去掉obi，使用自写绳索
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using Unity.Burst;
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using Unity.Collections;
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using Unity.Jobs;
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using Unity.Mathematics;
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namespace Obi
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{
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public struct BurstBox : BurstLocalOptimization.IDistanceFunction
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{
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public BurstColliderShape shape;
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public BurstAffineTransform colliderToSolver;
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public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
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{
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float4 center = shape.center * colliderToSolver.scale;
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float4 size = shape.size * colliderToSolver.scale * 0.5f;
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// clamp the point to the surface of the box:
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point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
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if (shape.is2D)
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point[2] = 0;
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// get minimum distance for each axis:
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float4 distances = size - math.abs(point);
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if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
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{
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// find minimum distance in all three axes and the axis index:
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float min = float.MaxValue;
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int axis = 0;
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for (int i = 0; i < 3; ++i)
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{
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if (distances[i] < min)
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{
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min = distances[i];
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axis = i;
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}
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}
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projectedPoint.normal = float4.zero;
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projectedPoint.point = point;
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projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
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projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
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}
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else
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{
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projectedPoint.point = math.clamp(point, -size, size);
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projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
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}
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projectedPoint.point = colliderToSolver.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
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projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
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}
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public static JobHandle GenerateContacts(ObiColliderWorld world,
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BurstSolverImpl solver,
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NativeList<Oni.ContactPair> contactPairs,
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NativeQueue<BurstContact> contactQueue,
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NativeArray<int> contactOffsetsPerType,
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float deltaTime,
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JobHandle inputDeps)
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{
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int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Box + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Box];
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if (pairCount == 0) return inputDeps;
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var job = new GenerateBoxContactsJob
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{
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contactPairs = contactPairs,
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positions = solver.positions,
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orientations = solver.orientations,
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velocities = solver.velocities,
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invMasses = solver.invMasses,
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radii = solver.principalRadii,
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simplices = solver.simplices,
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simplexCounts = solver.simplexCounts,
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transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
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contactsQueue = contactQueue.AsParallelWriter(),
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worldToSolver = solver.worldToSolver,
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deltaTime = deltaTime,
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parameters = solver.abstraction.parameters,
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firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Box]
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};
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inputDeps = job.Schedule(pairCount, 8, inputDeps);
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return inputDeps;
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}
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}
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[BurstCompile]
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struct GenerateBoxContactsJob : IJobParallelFor
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{
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[ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
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// particle arrays:
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[ReadOnly] public NativeArray<float4> velocities;
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[ReadOnly] public NativeArray<float4> positions;
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[ReadOnly] public NativeArray<quaternion> orientations;
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[ReadOnly] public NativeArray<float> invMasses;
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[ReadOnly] public NativeArray<float4> radii;
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// simplex arrays:
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[ReadOnly] public NativeArray<int> simplices;
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[ReadOnly] public SimplexCounts simplexCounts;
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// collider arrays:
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[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
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[ReadOnly] public NativeArray<BurstColliderShape> shapes;
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[WriteOnly]
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[NativeDisableParallelForRestriction]
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public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
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// auxiliar data:
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[ReadOnly] public int firstPair;
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[ReadOnly] public BurstAffineTransform worldToSolver;
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[ReadOnly] public float deltaTime;
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[ReadOnly] public Oni.SolverParameters parameters;
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public void Execute(int i)
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{
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int simplexIndex = contactPairs[firstPair + i].bodyA;
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int colliderIndex = contactPairs[firstPair + i].bodyB;
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int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
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BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
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BurstBox shape = new BurstBox { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
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float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
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var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
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contactsQueue.Enqueue(new BurstContact
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{
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bodyA = simplexIndex,
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bodyB = colliderIndex,
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pointA = simplexBary,
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pointB = colliderPoint.point,
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normal = colliderPoint.normal * shape.shape.sign
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});
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}
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}
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}
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#endif
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