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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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Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
using Unity.Burst;
using System.Threading;
using Unity.Collections.LowLevel.Unsafe;
namespace Obi
{
public class BurstColliderWorld : MonoBehaviour, IColliderWorldImpl
{
struct MovingCollider
{
public BurstCellSpan oldSpan;
public BurstCellSpan newSpan;
public int entity;
}
public int referenceCount { get; private set; } = 0;
public int colliderCount { get; private set; } = 0;
private NativeMultilevelGrid<int> grid;
private NativeQueue<MovingCollider> movingColliders;
private NativeArray<int> colliderTypeCounts;
private NativeQueue<Oni.ContactPair> contactPairQueue;
public NativeList<Oni.ContactPair> contactPairs;
public NativeArray<int> contactOffsetsPerType;
public NativeQueue<BurstContact> colliderContactQueue;
public ObiNativeCellSpanList cellSpans;
public void Awake()
{
this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
this.movingColliders = new NativeQueue<MovingCollider>(Allocator.Persistent);
this.colliderContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
this.contactPairQueue = new NativeQueue<Oni.ContactPair>(Allocator.Persistent);
this.colliderTypeCounts = new NativeArray<int>(Oni.ColliderShapeTypeCount, Allocator.Persistent);
this.contactOffsetsPerType = new NativeArray<int>(Oni.ColliderShapeTypeCount + 1, Allocator.Persistent);
this.contactPairs = new NativeList<Oni.ContactPair>(Allocator.Persistent);
this.cellSpans = new ObiNativeCellSpanList();
ObiColliderWorld.GetInstance().RegisterImplementation(this);
}
public void OnDestroy()
{
ObiColliderWorld.GetInstance().UnregisterImplementation(this);
grid.Dispose();
movingColliders.Dispose();
colliderTypeCounts.Dispose();
contactPairQueue.Dispose();
contactPairs.Dispose();
contactOffsetsPerType.Dispose();
colliderContactQueue.Dispose();
cellSpans.Dispose();
}
public void IncreaseReferenceCount()
{
referenceCount++;
}
public void DecreaseReferenceCount()
{
if (--referenceCount <= 0 && gameObject != null)
DestroyImmediate(gameObject);
}
public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
{
colliderCount = shapes.count;
// insert new empty cellspans at the end if needed:
while (colliderCount > cellSpans.count)
cellSpans.Add(new CellSpan(new VInt4(10000), new VInt4(10000)));
}
public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
{
}
public void SetForceZones(ObiNativeForceZoneList rigidbody)
{
}
public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
{
}
public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
{
}
public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
{
}
public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes) { }
public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples) { }
public void UpdateWorld(float deltaTime)
{
var world = ObiColliderWorld.GetInstance();
var identifyMoving = new IdentifyMovingColliders
{
movingColliders = movingColliders.AsParallelWriter(),
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(cellSpans.count),
rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(cellSpans.count),
cellIndices = cellSpans.AsNativeArray<BurstCellSpan>(),
colliderCount = colliderCount,
dt = deltaTime
};
JobHandle movingHandle = identifyMoving.Schedule(cellSpans.count, 128);
var updateMoving = new UpdateMovingColliders
{
movingColliders = movingColliders,
grid = grid,
colliderCount = colliderCount
};
updateMoving.Schedule(movingHandle).Complete();
// remove tail from the current spans array:
if (colliderCount < cellSpans.count)
cellSpans.count -= cellSpans.count - colliderCount;
}
[BurstCompile]
struct IdentifyMovingColliders : IJobParallelFor
{
[WriteOnly]
[NativeDisableParallelForRestriction]
public NativeQueue<MovingCollider>.ParallelWriter movingColliders;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
public NativeArray<BurstAabb> bounds;
public NativeArray<BurstCellSpan> cellIndices;
[ReadOnly] public int colliderCount;
[ReadOnly] public float dt;
// Iterate over all colliders and store those whose cell span has changed.
public void Execute(int i)
{
BurstAabb velocityBounds = bounds[i];
int rb = shapes[i].rigidbodyIndex;
// Expand bounds by rigidbody's linear velocity
// (check against out of bounds rigidbody access, can happen when a destroyed collider references a rigidbody that has just been destroyed too)
if (rb >= 0 && rb < rigidbodies.Length)
velocityBounds.Sweep(rigidbodies[rb].velocity * dt);
// Expand bounds by collision material's stick distance:
if (shapes[i].materialIndex >= 0)
velocityBounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
float size = velocityBounds.AverageAxisLength();
int level = NativeMultilevelGrid<int>.GridLevelForSize(size);
float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
// get new collider bounds cell coordinates:
BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(velocityBounds.min.xyz, cellSize), level),
new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
// if the collider is 2D, project it to the z = 0 cells.
if (shapes[i].is2D)
{
newSpan.min[2] = 0;
newSpan.max[2] = 0;
}
// if the collider is at the tail (removed), we will only remove it from its current cellspan.
// if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
if (i >= colliderCount || cellIndices[i] != newSpan)
{
// Add the collider to the list of moving colliders:
movingColliders.Enqueue(new MovingCollider
{
oldSpan = cellIndices[i],
newSpan = newSpan,
entity = i
});
// Update previous coords:
cellIndices[i] = newSpan;
}
}
}
[BurstCompile]
struct UpdateMovingColliders : IJob
{
public NativeQueue<MovingCollider> movingColliders;
public NativeMultilevelGrid<int> grid;
[ReadOnly] public int colliderCount;
public void Execute()
{
while (movingColliders.Count > 0)
{
MovingCollider movingCollider = movingColliders.Dequeue();
// remove from old cells:
grid.RemoveFromCells(movingCollider.oldSpan, movingCollider.entity);
// insert in new cells, as long as the index is below the amount of colliders.
// otherwise, the collider is at the "tail" and there's no need to add it back.
if (movingCollider.entity < colliderCount)
grid.AddToCells(movingCollider.newSpan, movingCollider.entity);
}
// remove all empty cells from the grid:
grid.RemoveEmpty();
}
}
[BurstCompile]
unsafe struct GenerateContactsJob : IJobParallelFor
{
//collider grid:
[ReadOnly] public NativeMultilevelGrid<int> colliderGrid;
[DeallocateOnJobCompletion]
[ReadOnly] public NativeArray<int> gridLevels;
// 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;
[ReadOnly] public NativeArray<int> filters;
[ReadOnly] public NativeArray<int> particleMaterialIndices;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
// collider arrays:
[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
[ReadOnly] public NativeArray<BurstAabb> bounds;
[WriteOnly]
[NativeDisableParallelForRestriction]
public NativeQueue<Oni.ContactPair>.ParallelWriter contactPairQueue;
[NativeDisableParallelForRestriction]
public NativeArray<int> colliderTypeCounts;
// auxiliar data:
[ReadOnly] public BurstAffineTransform solverToWorld;
[ReadOnly] public float deltaTime;
[ReadOnly] public Oni.SolverParameters parameters;
public void Execute(int i)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
// get all colliders overlapped by the cell bounds, in all grid levels:
BurstAabb simplexBoundsWS = simplexBounds[i].Transformed(solverToWorld);
NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
// max size of the simplex bounds in cells:
int3 maxSize = new int3(10);
bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
for (int l = 0; l < gridLevels.Length; ++l)
{
float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(gridLevels[l]);
int3 minCell = GridHash.Quantize(simplexBoundsWS.min.xyz, cellSize);
int3 maxCell = GridHash.Quantize(simplexBoundsWS.max.xyz, cellSize);
maxCell = minCell + math.min(maxCell - minCell, maxSize);
for (int x = minCell[0]; x <= maxCell[0]; ++x)
{
for (int y = minCell[1]; y <= maxCell[1]; ++y)
{
// for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
// (which are inserted in cells with z == 0) are accounted for in the broadphase.
if (is2D)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, gridLevels[l]), out int cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
for (int z = minCell[2]; z <= maxCell[2]; ++z)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, z, gridLevels[l]), out int cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
}
}
}
if (candidates.Length > 0)
{
// make sure each candidate collider only shows up once in the array:
NativeArray<int> uniqueCandidates = candidates.AsArray();
uniqueCandidates.Sort();
int uniqueCount = uniqueCandidates.Unique();
// iterate over candidate colliders, generating contacts for each one
for (int k = 0; k < uniqueCount; ++k)
{
int c = uniqueCandidates[k];
if (c < shapes.Length)
{
BurstColliderShape shape = shapes[c];
BurstAabb colliderBoundsWS = bounds[c];
int rb = shape.rigidbodyIndex;
// Expand bounds by rigidbody's linear velocity:
if (rb >= 0)
colliderBoundsWS.Sweep(rigidbodies[rb].velocity * deltaTime);
// Expand bounds by collision material's stick distance:
if (shape.materialIndex >= 0)
colliderBoundsWS.Expand(collisionMaterials[shape.materialIndex].stickDistance);
// check if any simplex particle and the collider should collide:
bool shouldCollide = false;
var colliderCategory = shape.filter & ObiUtils.FilterCategoryBitmask;
var colliderMask = (shape.filter & ObiUtils.FilterMaskBitmask) >> 16;
for (int j = 0; j < simplexSize; ++j)
{
var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
var simplexMask = (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
shouldCollide |= (simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0;
}
if (shouldCollide && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
{
// increment the amount of contacts for this shape type:
Interlocked.Increment(ref ((int*)colliderTypeCounts.GetUnsafePtr())[(int)shape.type]);
// enqueue a new contact pair:
contactPairQueue.Enqueue(new Oni.ContactPair{
bodyA = i,
bodyB = c
});
}
}
}
}
}
}
[BurstCompile]
struct PrefixSumJob : IJob
{
[ReadOnly] public NativeArray<int> array;
public NativeArray<int> sum;
public void Execute()
{
sum[0] = 0;
for (int i = 1; i < sum.Length; ++i)
sum[i] = sum[i - 1] + array[i-1];
}
}
[BurstCompile]
struct SortContactPairsByShape : IJob
{
public NativeQueue<Oni.ContactPair> contactPairQueue;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<int> start; // prefix sum
public NativeArray<int> count;
public NativeList<Oni.ContactPair> contactPairs;
public void Execute()
{
contactPairs.ResizeUninitialized(contactPairQueue.Count);
while (!contactPairQueue.IsEmpty())
{
var pair = contactPairQueue.Dequeue();
int shapeType = (int)shapes[pair.bodyB].type;
// write the pair directly at its position in the sorted array:
contactPairs[start[shapeType] + (--count[shapeType])] = pair;
}
}
}
[BurstCompile]
unsafe struct ApplyForceZonesJob : IJobParallelFor
{
// particle arrays:
[NativeDisableParallelForRestriction] public NativeArray<float4> externalForces;
[NativeDisableParallelForRestriction] public NativeArray<float4> wind;
[NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
[NativeDisableParallelForRestriction] public NativeArray<float4> colors;
[NativeDisableParallelForRestriction] public NativeArray<float> life;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float> invMasses;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
// collider arrays:
[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<ForceZone> forceZones;
// contacts
[ReadOnly] public NativeArray<BurstContact> contacts;
// auxiliar data:
[ReadOnly] public BurstAffineTransform worldToSolver;
[ReadOnly] public float deltaTime;
public void Execute(int i)
{
var contact = contacts[i];
int forceZoneIndex = shapes[contact.bodyB].forceZoneIndex;
if (forceZoneIndex >= 0)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
float distance = -math.dot(positions[particleIndex] - contact.pointB, contact.normal);
if (distance < 0) continue;
float4 axis = (worldToSolver * transforms[contact.bodyB]).TransformDirection(new float4(0, 0, 1, 0));
// calculate falloff region based on min/max distances:
float falloff = 1;
float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
if (math.abs(range) > BurstMath.epsilon)
falloff = math.pow(math.saturate((distance - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
float dampIntensity = forceZones[forceZoneIndex].damping * falloff;
// tint particles:
float mix = math.pow(1 - math.saturate(forceZones[forceZoneIndex].color.a * falloff), deltaTime);
colors[particleIndex] = math.lerp((Vector4)forceZones[forceZoneIndex].color, colors[particleIndex], mix);
// calculate force direction, depending on the type of the force field:
float4 result = float4.zero;
switch (forceZones[forceZoneIndex].type)
{
case ForceZone.ZoneType.Radial:
result = contact.normal * forceIntensity;
break;
case ForceZone.ZoneType.Vortex:
result = new float4(math.cross(axis.xyz * forceIntensity, contact.normal.xyz).xyz, 0);
break;
case ForceZone.ZoneType.Directional:
result = axis * forceIntensity;
break;
default:
BurstMath.AtomicAdd(life, particleIndex, -forceIntensity * deltaTime);
continue;
}
// apply damping:
switch (forceZones[forceZoneIndex].dampingDir)
{
case ForceZone.DampingDirection.ForceDirection:
{
float4 forceDir = math.normalizesafe(result);
result -= forceDir * math.dot(velocities[particleIndex], forceDir) * dampIntensity;
}
break;
case ForceZone.DampingDirection.SurfaceDirection:
result -= contact.normal * math.dot(velocities[particleIndex], contact.normal) * dampIntensity;
break;
default:
result -= velocities[particleIndex] * dampIntensity;
break;
}
if (invMasses[particleIndex] > 0)
{
switch (forceZones[forceZoneIndex].mode)
{
case ForceZone.ForceMode.Acceleration:
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize / invMasses[particleIndex]);
break;
case ForceZone.ForceMode.Force:
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize);
break;
case ForceZone.ForceMode.Wind:
BurstMath.AtomicAdd(wind, particleIndex, result / simplexSize);
break;
}
}
}
}
}
}
public JobHandle ApplyForceZones(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
{
var world = ObiColliderWorld.GetInstance();
var applyForceFieldsJob = new ApplyForceZonesJob
{
contacts = solver.abstraction.colliderContacts.AsNativeArray<BurstContact>(),
positions = solver.positions,
velocities = solver.velocities,
externalForces = solver.externalForces,
wind = solver.wind,
invMasses = solver.invMasses,
life = solver.life,
colors = solver.colors,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
forceZones = world.forceZones.AsNativeArray<ForceZone>(),
worldToSolver = solver.worldToSolver,
deltaTime = deltaTime,
};
return applyForceFieldsJob.Schedule(solver.abstraction.colliderContacts.count, 64, inputDeps);
}
public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
{
var world = ObiColliderWorld.GetInstance();
var generateColliderContactsJob = new GenerateContactsJob
{
colliderGrid = grid,
gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
positions = solver.positions,
orientations = solver.orientations,
velocities = solver.velocities,
invMasses = solver.invMasses,
radii = solver.principalRadii,
filters = solver.filters,
particleMaterialIndices = solver.collisionMaterials,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
simplexBounds = solver.simplexBounds,
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
contactPairQueue = contactPairQueue.AsParallelWriter(),
colliderTypeCounts = colliderTypeCounts,
solverToWorld = solver.solverToWorld,
deltaTime = deltaTime,
parameters = solver.abstraction.parameters
};
inputDeps = generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
var prefixSumJob = new PrefixSumJob
{
array = colliderTypeCounts,
sum = contactOffsetsPerType
};
inputDeps = prefixSumJob.Schedule(inputDeps);
var sortPairsJob = new SortContactPairsByShape
{
contactPairQueue = contactPairQueue,
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
start = contactOffsetsPerType,
count = colliderTypeCounts,
contactPairs = contactPairs
};
inputDeps = sortPairsJob.Schedule(inputDeps);
inputDeps.Complete();
inputDeps = BurstSphere.GenerateContacts(world,solver,contactPairs,colliderContactQueue,contactOffsetsPerType,deltaTime,inputDeps);
inputDeps = BurstBox.GenerateContacts(world,solver,contactPairs,colliderContactQueue, contactOffsetsPerType,deltaTime,inputDeps);
inputDeps = BurstCapsule.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstDistanceField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstTriangleMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstHeightField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstEdgeMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
return inputDeps;
}
}
}
#endif