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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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145
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Jobs;
using Unity.Collections;
using System.Collections;
using System.Collections.Generic;
namespace Obi
{
public interface IBurstConstraintsImpl : IConstraints
{
JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
void Dispose();
IConstraintsBatchImpl CreateConstraintsBatch();
void RemoveBatch(IConstraintsBatchImpl batch);
}
public abstract class BurstConstraintsImpl<T> : IBurstConstraintsImpl where T : BurstConstraintsBatchImpl
{
protected BurstSolverImpl m_Solver;
public List<T> batches = new List<T>();
protected Oni.ConstraintType m_ConstraintType;
public Oni.ConstraintType constraintType
{
get { return m_ConstraintType; }
}
public ISolverImpl solver
{
get { return m_Solver; }
}
public BurstConstraintsImpl(BurstSolverImpl solver, Oni.ConstraintType constraintType)
{
this.m_ConstraintType = constraintType;
this.m_Solver = solver;
}
public virtual void Dispose()
{
}
public abstract IConstraintsBatchImpl CreateConstraintsBatch();
public abstract void RemoveBatch(IConstraintsBatchImpl batch);
public virtual int GetConstraintCount()
{
int count = 0;
if (batches == null) return count;
foreach (T batch in batches)
if (batch != null)
count += batch.GetConstraintCount();
return count;
}
public JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
// initialize all batches in parallel:
if (batches.Count > 0)
{
NativeArray<JobHandle> deps = new NativeArray<JobHandle>(batches.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < batches.Count; ++i)
deps[i] = batches[i].enabled ? batches[i].Initialize(inputDeps, stepTime, substepTime, steps, timeLeft) : inputDeps;
JobHandle result = JobHandle.CombineDependencies(deps);
deps.Dispose();
return result;
}
return inputDeps;
}
public JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
UnityEngine.Profiling.Profiler.BeginSample("Project");
var parameters = m_Solver.abstraction.GetConstraintParameters(m_ConstraintType);
switch(parameters.evaluationOrder)
{
case Oni.ConstraintParameters.EvaluationOrder.Sequential:
inputDeps = EvaluateSequential(inputDeps, stepTime, substepTime, steps, timeLeft);
break;
case Oni.ConstraintParameters.EvaluationOrder.Parallel:
inputDeps = EvaluateParallel(inputDeps, stepTime, substepTime, steps, timeLeft);
break;
}
UnityEngine.Profiling.Profiler.EndSample();
return inputDeps;
}
protected virtual JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime,int steps, float timeLeft)
{
// evaluate and apply all batches:
for (int i = 0; i < batches.Count; ++i)
{
if (batches[i].enabled)
{
inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
inputDeps = batches[i].Apply(inputDeps, substepTime);
m_Solver.ScheduleBatchedJobsIfNeeded();
}
}
return inputDeps;
}
protected virtual JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
// evaluate all batches:
for (int i = 0; i < batches.Count; ++i)
if (batches[i].enabled)
{
inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
m_Solver.ScheduleBatchedJobsIfNeeded();
}
// then apply them:
for (int i = 0; i < batches.Count; ++i)
if (batches[i].enabled)
{
inputDeps = batches[i].Apply(inputDeps, substepTime);
m_Solver.ScheduleBatchedJobsIfNeeded();
}
return inputDeps;
}
}
}
#endif