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 BurstTriangleMesh : 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 BurstMath.CachedTri tri;
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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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point = colliderToSolver.InverseTransformPointUnscaled(point);
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if (shape.is2D)
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point[2] = 0;
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float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
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float4 normal = math.normalizesafe(point - nearestPoint);
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projectedPoint.point = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
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projectedPoint.normal = colliderToSolver.TransformDirection(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.TriangleMesh + 1] - contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh];
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if (pairCount == 0) return inputDeps;
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var job = new GenerateTriangleMeshContactsJob
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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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simplexBounds = solver.simplexBounds,
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transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
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rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
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triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray<TriangleMeshHeader>(),
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bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
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triangles = world.triangleMeshContainer.triangles.AsNativeArray<Triangle>(),
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vertices = world.triangleMeshContainer.vertices.AsNativeArray<float3>(),
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contactsQueue = contactQueue.AsParallelWriter(),
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solverToWorld = solver.inertialFrame,
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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.TriangleMesh]
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};
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inputDeps = job.Schedule(pairCount, 1, 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 GenerateTriangleMeshContactsJob : 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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[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
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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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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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// triangle mesh data:
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[ReadOnly] public NativeArray<TriangleMeshHeader> triangleMeshHeaders;
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[ReadOnly] public NativeArray<BIHNode> bihNodes;
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[ReadOnly] public NativeArray<Triangle> triangles;
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[ReadOnly] public NativeArray<float3> vertices;
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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 BurstInertialFrame solverToWorld;
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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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var shape = shapes[colliderIndex];
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if (shape.dataIndex < 0)
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return;
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int rigidbodyIndex = shape.rigidbodyIndex;
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var header = triangleMeshHeaders[shape.dataIndex];
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int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
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var simplexBound = simplexBounds[simplexIndex];
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BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
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// invert a full matrix here to accurately represent collider bounds scale.
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var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
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var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
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float4 marginCS = new float4((shape.contactOffset + parameters.collisionMargin) / colliderToSolver.scale.xyz, 0);
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BurstTriangleMesh triangleMeshShape = new BurstTriangleMesh()
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{
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colliderToSolver = colliderToSolver,
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shape = shape
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};
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NativeQueue<int> queue = new NativeQueue<int>(Allocator.Temp);
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queue.Enqueue(0);
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while (!queue.IsEmpty())
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{
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int nodeIndex = queue.Dequeue();
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var node = bihNodes[header.firstNode + nodeIndex];
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// leaf node:
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if (node.firstChild < 0)
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{
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// check for contact against all triangles:
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for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
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{
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Triangle t = triangles[header.firstTriangle + dataOffset];
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float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0);
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float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0);
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float4 v3 = new float4(vertices[header.firstVertex + t.i3], 0);
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BurstAabb triangleBounds = new BurstAabb(v1, v2, v3, marginCS);
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if (triangleBounds.IntersectsAabb(simplexBoundsCS, shape.is2D))
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{
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float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
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triangleMeshShape.tri.Cache(v1 * colliderToSolver.scale, v2 * colliderToSolver.scale, v3 * colliderToSolver.scale);
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var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out float4 simplexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
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float4 velocity = float4.zero;
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float simplexRadius = 0;
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for (int j = 0; j < simplexSize; ++j)
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{
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int particleIndex = simplices[simplexStart + j];
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simplexRadius += radii[particleIndex].x * simplexBary[j];
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velocity += velocities[particleIndex] * simplexBary[j];
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}
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float4 rbVelocity = float4.zero;
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if (rigidbodyIndex >= 0)
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rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
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float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
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float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
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if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
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{
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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 * triangleMeshShape.shape.sign
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});
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}
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}
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}
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}
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else // check min and/or max children:
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{
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// visit min node:
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if (simplexBoundsCS.min[node.axis] <= node.min)
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queue.Enqueue(node.firstChild);
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// visit max node:
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if (simplexBoundsCS.max[node.axis] >= node.max)
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queue.Enqueue(node.firstChild + 1);
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}
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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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