添加插件
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using UnityEngine;
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using System;
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using System.Collections.Generic;
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namespace Obi
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{
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[Serializable]
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public class ObiPinholeConstraintsBatch : ObiConstraintsBatch
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{
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[Serializable]
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public struct PinholeEdge
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{
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public int edgeIndex;
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public float coordinate;
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public PinholeEdge(int edgeIndex, float coordinate)
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{
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this.edgeIndex = edgeIndex;
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this.coordinate = coordinate;
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}
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public float GetRopeCoordinate(ObiActor actor)
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{
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int edgeCount = actor.GetDeformableEdgeCount();
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return edgeCount > 0 ? Mathf.Clamp01((edgeIndex + coordinate) / edgeCount) : 0;
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}
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}
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protected IPinholeConstraintsBatchImpl m_BatchImpl;
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/// <summary>
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/// for each constraint, handle of the pinned collider.
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/// </summary>
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[HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
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/// <summary>
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/// for each constraint, reference to the actor pinned.
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/// </summary>
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[HideInInspector] public List<ObiActor> pinActors = new List<ObiActor>();
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/// <summary>
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/// index of the pinned collider in the collider world.
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/// </summary>
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[HideInInspector] public ObiNativeIntList colliderIndices = new ObiNativeIntList();
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/// <summary>
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/// Pinhole position expressed in the attachment's local space.
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/// </summary>
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[HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
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/// <summary>
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// Normalized coordinate along current edge.
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/// </summary>
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[HideInInspector] public ObiNativeFloatList edgeMus = new ObiNativeFloatList();
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/// <summary>
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/// Edge range as 2 ints (first edge, last edge) for each constraint.
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/// </summary>
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[HideInInspector] public ObiNativeIntList edgeRanges = new ObiNativeIntList();
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/// <summary>
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/// Min/max cooridnate in each of the first and last edges as 2 floats for each constraint.
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/// </summary>
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[HideInInspector] public ObiNativeFloatList edgeRangeMus = new ObiNativeFloatList();
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/// <summary>
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/// Parameters of pinhole constraints. 5 floats per constraint (compliance, friction, motor speed, motor force and normalized coordinate along edge).
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/// </summary>
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[HideInInspector] public ObiNativeFloatList parameters = new ObiNativeFloatList();
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/// <summary>
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/// Relative velocities between rope and pinhole.
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/// </summary>
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[HideInInspector] public ObiNativeFloatList relativeVelocities = new ObiNativeFloatList();
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public override Oni.ConstraintType constraintType
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{
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get { return Oni.ConstraintType.Pinhole; }
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}
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public override IConstraintsBatchImpl implementation
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{
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get { return m_BatchImpl; }
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}
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public ObiPinholeConstraintsBatch(ObiPinholeConstraintsData constraints = null) : base()
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{
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}
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public void AddConstraint(PinholeEdge edge, PinholeEdge firstEdge, PinholeEdge lastEdge, ObiActor actor, ObiColliderBase body, Vector3 offset, float compliance, float friction, float motorSpeed, float motorForce, bool clampAtEnds)
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{
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RegisterConstraint();
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particleIndices.Add(edge.edgeIndex);
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edgeMus.Add(edge.coordinate);
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edgeRanges.Add(firstEdge.edgeIndex);
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edgeRanges.Add(lastEdge.edgeIndex);
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edgeRangeMus.Add(firstEdge.coordinate);
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edgeRangeMus.Add(lastEdge.coordinate);
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pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
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pinActors.Add(actor);
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colliderIndices.Add(body != null ? body.Handle.index : -1);
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offsets.Add(offset);
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parameters.Add(compliance);
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parameters.Add(friction);
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parameters.Add(motorSpeed);
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parameters.Add(motorForce);
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parameters.Add(clampAtEnds ? 1 : 0);
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relativeVelocities.Add(0);
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}
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public override void Clear()
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{
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base.Clear();
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particleIndices.Clear();
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pinBodies.Clear();
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colliderIndices.Clear();
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offsets.Clear();
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edgeMus.Clear();
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edgeRanges.Clear();
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edgeRangeMus.Clear();
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parameters.Clear();
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relativeVelocities.Clear();
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}
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public override void GetParticlesInvolved(int index, List<int> particles)
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{
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particles.Add(particleIndices[index]);
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}
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protected override void SwapConstraints(int sourceIndex, int destIndex)
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{
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particleIndices.Swap(sourceIndex, destIndex);
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pinBodies.Swap(sourceIndex, destIndex);
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colliderIndices.Swap(sourceIndex, destIndex);
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offsets.Swap(sourceIndex, destIndex);
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edgeMus.Swap(sourceIndex, destIndex);
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edgeRanges.Swap(sourceIndex * 2, destIndex * 2);
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edgeRanges.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
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edgeRangeMus.Swap(sourceIndex * 2, destIndex * 2);
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edgeRangeMus.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
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for (int i = 0; i < 5; ++i)
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parameters.Swap(sourceIndex * 5 + i, destIndex * 5 + i);
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relativeVelocities.Swap(sourceIndex, destIndex);
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}
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public override void Merge(ObiActor actor, IObiConstraintsBatch other)
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{
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var batch = other as ObiPinholeConstraintsBatch;
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if (batch != null)
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{
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particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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edgeRanges.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
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edgeRangeMus.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
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edgeMus.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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parameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
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relativeVelocities.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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edgeMus.CopyFrom(batch.edgeMus, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
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edgeRangeMus.CopyFrom(batch.edgeRangeMus, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
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offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
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relativeVelocities.CopyFrom(batch.relativeVelocities, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
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parameters.CopyFrom(batch.parameters, 0, m_ActiveConstraintCount * 5, batch.activeConstraintCount * 5);
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for (int i = 0; i < batch.activeConstraintCount; ++i)
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{
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int currentEdge = -1, firstEdge = -1, lastEdge = -1;
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if (batch.pinActors[i] != null)
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{
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currentEdge = batch.pinActors[i].deformableEdgesOffset + batch.particleIndices[i];
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firstEdge = batch.pinActors[i].deformableEdgesOffset + batch.edgeRanges[i * 2];
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lastEdge = batch.pinActors[i].deformableEdgesOffset + batch.edgeRanges[i * 2 + 1];
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}
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edgeRanges[(m_ActiveConstraintCount + i) * 2] = firstEdge;
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edgeRanges[(m_ActiveConstraintCount + i) * 2 + 1] = lastEdge;
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particleIndices[m_ActiveConstraintCount + i] = Mathf.Clamp(currentEdge, firstEdge, lastEdge);
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colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
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}
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base.Merge(actor, other);
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}
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}
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public override void AddToSolver(ObiSolver solver)
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{
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if (solver != null && solver.implementation != null)
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{
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m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IPinholeConstraintsBatchImpl;
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if (m_BatchImpl != null)
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m_BatchImpl.SetPinholeConstraints(particleIndices, colliderIndices, offsets, edgeMus, edgeRanges, edgeRangeMus, parameters, relativeVelocities, lambdas, m_ActiveConstraintCount);
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}
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}
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public override void RemoveFromSolver(ObiSolver solver)
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{
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base.RemoveFromSolver(solver);
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edgeRanges.Dispose();
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colliderIndices.Dispose();
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offsets.Dispose();
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parameters.Dispose();
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if (solver != null && solver.implementation != null)
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solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
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}
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}
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}
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