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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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26
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using System;
namespace Obi
{
public class BurstChainConstraints : BurstConstraintsImpl<BurstChainConstraintsBatch>
{
public BurstChainConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
{
}
public override IConstraintsBatchImpl CreateConstraintsBatch()
{
var dataBatch = new BurstChainConstraintsBatch(this);
batches.Add(dataBatch);
return dataBatch;
}
public override void RemoveBatch(IConstraintsBatchImpl batch)
{
batches.Remove(batch as BurstChainConstraintsBatch);
batch.Destroy();
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta
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222
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Jobs;
using Unity.Collections;
using Unity.Collections.LowLevel.Unsafe;
using Unity.Mathematics;
using Unity.Burst;
using System.Collections;
namespace Obi
{
public class BurstChainConstraintsBatch : BurstConstraintsBatchImpl, IChainConstraintsBatchImpl
{
private NativeArray<int> firstIndex;
private NativeArray<int> numIndices;
private NativeArray<float2> restLengths;
public BurstChainConstraintsBatch(BurstChainConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Chain;
}
public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndices, int count)
{
this.particleIndices = particleIndices.AsNativeArray<int>();
this.firstIndex = firstIndex.AsNativeArray<int>();
this.numIndices = numIndices.AsNativeArray<int>();
this.restLengths = restLengths.AsNativeArray<float2>();
m_ConstraintCount = count;
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
var projectConstraints = new ChainConstraintsBatchJob()
{
particleIndices = particleIndices,
firstIndex = firstIndex,
numIndices = numIndices,
restLengths = restLengths,
positions = solverImplementation.positions,
invMasses = solverImplementation.invMasses,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts
};
return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
}
public override JobHandle Apply(JobHandle inputDeps, float substepTime)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
var applyConstraints = new ApplyChainConstraintsBatchJob()
{
particleIndices = particleIndices,
firstIndex = firstIndex,
numIndices = numIndices,
positions = solverImplementation.positions,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
sorFactor = parameters.SORFactor
};
return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
}
[BurstCompile]
public struct ChainConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[ReadOnly] public NativeArray<int> firstIndex;
[ReadOnly] public NativeArray<int> numIndices;
[ReadOnly] public NativeArray<float2> restLengths;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float> invMasses;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
public void Execute(int c)
{
int numEdges = numIndices[c] - 1;
int first = firstIndex[c];
float minLength = restLengths[c].x;
float maxLength = restLengths[c].y;
// (ni:constraint gradient, di:desired lenght)
NativeArray<float4> ni = new NativeArray<float4>(numEdges, Allocator.Temp);
// calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
for (int i = 0; i < numEdges; ++i)
{
int edge = first + i;
float4 p1 = positions[particleIndices[edge]];
float4 p2 = positions[particleIndices[edge+1]];
float4 diff = p1 - p2;
float distance = math.length(diff);
ni[i] = new float4(diff/(distance + BurstMath.epsilon));
}
// calculate ai, bi and ci (superdiagonals):
for (int i = 0; i < numEdges; ++i)
{
int edge = first + i;
float w_i_ = invMasses[particleIndices[edge]];
float w__i = invMasses[particleIndices[edge+1]];
float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
float4 n_i_ = ni[i];
float4 n__i = (i < numEdges - 1) ? ni[i + 1] : float4.zero;
diagonals[i] = new float3(
-w_i_ * math.dot(n_i_, ni__), // ai
w_i_ + w__i, // bi
-w__i * math.dot(n_i_, n__i));// ci
}
// solve step #1, forward sweep:
// reuse diagonals.xy to store sweep results ci_ and di_:
for (int i = 0; i < numEdges; ++i)
{
int edge = first + i;
float4 p1 = positions[particleIndices[edge]];
float4 p2 = positions[particleIndices[edge + 1]];
float cip_ = (i > 0) ? diagonals[i - 1].x : 0;
float dip_ = (i > 0) ? diagonals[i - 1].y : 0;
float den = diagonals[i].y - cip_ * diagonals[i].x;
float3 d = diagonals[i];
if (math.abs(den) > BurstMath.epsilon)
{
float distance = math.distance(p1, p2);
float correction = 0;
if (distance >= maxLength)
correction = distance - maxLength;
else if (distance <= minLength)
correction = distance - minLength;
d.xy = new float2(d.z / den,
(correction - dip_ * d.x) / den);
}
else
d.xy = float2.zero;
diagonals[i] = d;
}
// solve step #2, backward sweep. reuse diagonals.z to store solution xi:
for (int i = numEdges - 1; i >= 0; --i)
{
float xi_ = (i < numEdges - 1) ? diagonals[i + 1].z : 0;
float3 d = diagonals[i];
d.z = d.y - d.x * xi_;
diagonals[i] = d;
}
// calculate deltas:
for (int i = 0; i < numIndices[c]; ++i)
{
int index = first + i;
float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
float4 n_i_ = (i < numIndices[c] - 1) ? ni[i] : float4.zero;
float xi_ = (i > 0) ? diagonals[i - 1].z : 0;
float nxi = (i < numIndices[c] - 1) ? diagonals[i].z : 0;
int p = particleIndices[index];
deltas[p] += invMasses[p] * (ni__ * xi_ - n_i_ * nxi);
counts[p]++;
}
}
}
[BurstCompile]
public struct ApplyChainConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[ReadOnly] public NativeArray<int> firstIndex;
[ReadOnly] public NativeArray<int> numIndices;
[ReadOnly] public float sorFactor;
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
public void Execute(int i)
{
int first = firstIndex[i];
int last = first + numIndices[i];
for (int k = first; k < last; ++k)
{
int p = particleIndices[k];
if (counts[p] > 0)
{
positions[p] += deltas[p] * sorFactor / counts[p];
deltas[p] = float4.zero;
counts[p] = 0;
}
}
}
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta
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