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去掉obi，使用自写绳索

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BobSong
2026-02-23 20:51:03 +08:00
parent cb636f862d
commit 91e2309eeb
2011 changed files with 2593 additions and 190578 deletions
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136
Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using Unity.Burst;
using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
namespace Obi
{
public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction
{
public BurstColliderShape shape;
public BurstAffineTransform colliderToSolver;
public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
float4 center = shape.center * colliderToSolver.scale;
point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
if (shape.is2D)
point[2] = 0;
int direction = (int)shape.size.z;
float radius = shape.size.x * math.max(colliderToSolver.scale[(direction + 1) % 3],
colliderToSolver.scale[(direction + 2) % 3]);
float height = math.max(radius, shape.size.y * 0.5f * colliderToSolver.scale[direction]);
float4 halfVector = float4.zero;
halfVector[direction] = height - radius;
float4 centerLine = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
float4 centerToPoint = point - centerLine;
float distanceToCenter = math.length(centerToPoint);
float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + shape.contactOffset));
projectedPoint.normal = colliderToSolver.TransformDirection(normal);
}
public static JobHandle GenerateContacts(ObiColliderWorld world,
BurstSolverImpl solver,
NativeList<Oni.ContactPair> contactPairs,
NativeQueue<BurstContact> contactQueue,
NativeArray<int> contactOffsetsPerType,
float deltaTime,
JobHandle inputDeps)
{
int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Capsule + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Capsule];
if (pairCount == 0) return inputDeps;
var job = new GenerateCapsuleContactsJob
{
contactPairs = contactPairs,
positions = solver.positions,
orientations = solver.orientations,
velocities = solver.velocities,
invMasses = solver.invMasses,
radii = solver.principalRadii,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
contactsQueue = contactQueue.AsParallelWriter(),
worldToSolver = solver.worldToSolver,
deltaTime = deltaTime,
parameters = solver.abstraction.parameters,
firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Capsule]
};
inputDeps = job.Schedule(pairCount, 8, inputDeps);
return inputDeps;
}
}
[BurstCompile]
struct GenerateCapsuleContactsJob : IJobParallelFor
{
[ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
// particle arrays:
[ReadOnly] public NativeArray<float4> velocities;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<quaternion> orientations;
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public NativeArray<float4> radii;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
// collider arrays:
[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[WriteOnly]
[NativeDisableParallelForRestriction]
public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
// auxiliar data:
[ReadOnly] public int firstPair;
[ReadOnly] public BurstAffineTransform worldToSolver;
[ReadOnly] public float deltaTime;
[ReadOnly] public Oni.SolverParameters parameters;
public void Execute(int i)
{
int simplexIndex = contactPairs[firstPair + i].bodyA;
int colliderIndex = contactPairs[firstPair + i].bodyB;
int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
BurstCapsule shape = new BurstCapsule { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
contactsQueue.Enqueue(new BurstContact
{
bodyA = simplexIndex,
bodyB = colliderIndex,
pointA = simplexBary,
pointB = colliderPoint.point,
normal = colliderPoint.normal * shape.shape.sign
});
}
}
}
#endif