去掉obi，使用自写绳索
This commit is contained in:
@@ -1,49 +0,0 @@
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using UnityEngine;
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using Unity.Jobs;
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using Unity.Collections;
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using Unity.Mathematics;
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using Unity.Burst;
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using System;
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using System.Collections;
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namespace Obi
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{
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[BurstCompile]
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public struct ApplyCollisionConstraintsBatchJob : IJob
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{
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[ReadOnly] public NativeArray<BurstContact> contacts;
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[ReadOnly] public NativeArray<int> simplices;
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[ReadOnly] public SimplexCounts simplexCounts;
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[NativeDisableParallelForRestriction] public NativeArray<float4> positions;
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[NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
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[NativeDisableParallelForRestriction] public NativeArray<int> counts;
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[NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
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[NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
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[NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
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[ReadOnly] public Oni.ConstraintParameters constraintParameters;
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public void Execute()
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{
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for (int i = 0; i < contacts.Length; ++i)
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{
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int simplexStart = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSize);
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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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BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
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BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
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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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@@ -1,11 +0,0 @@
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fileFormatVersion: 2
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guid: f97613844b24a40899f10722bcfc4cf8
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -1,31 +0,0 @@
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using System;
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namespace Obi
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{
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public class BurstColliderCollisionConstraints : BurstConstraintsImpl<BurstColliderCollisionConstraintsBatch>
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{
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public BurstColliderCollisionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
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{
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}
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public override IConstraintsBatchImpl CreateConstraintsBatch()
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{
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var dataBatch = new BurstColliderCollisionConstraintsBatch(this);
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batches.Add(dataBatch);
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return dataBatch;
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}
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public override void RemoveBatch(IConstraintsBatchImpl batch)
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{
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batches.Remove(batch as BurstColliderCollisionConstraintsBatch);
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batch.Destroy();
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}
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public override int GetConstraintCount()
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{
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return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
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}
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}
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}
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#endif
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@@ -1,11 +0,0 @@
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fileFormatVersion: 2
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guid: e31847a0e619545c0bc70258b413a42e
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -1,344 +0,0 @@
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using UnityEngine;
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using Unity.Jobs;
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using Unity.Collections;
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using Unity.Collections.LowLevel.Unsafe;
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using Unity.Mathematics;
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using Unity.Burst;
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using System.Collections;
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namespace Obi
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{
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public class BurstColliderCollisionConstraintsBatch : BurstConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
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{
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public BurstColliderCollisionConstraintsBatch(BurstColliderCollisionConstraints constraints)
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{
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m_Constraints = constraints;
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m_ConstraintType = Oni.ConstraintType.Collision;
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}
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public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
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{
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var updateContacts = new UpdateContactsJob()
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{
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prevPositions = solverImplementation.prevPositions,
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prevOrientations = solverImplementation.prevOrientations,
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velocities = solverImplementation.velocities,
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radii = solverImplementation.principalRadii,
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invMasses = solverImplementation.invMasses,
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invRotationalMasses = solverImplementation.invRotationalMasses,
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particleMaterialIndices = solverImplementation.collisionMaterials,
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collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
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simplices = solverImplementation.simplices,
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simplexCounts = solverImplementation.simplexCounts,
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shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
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transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
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rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
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rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
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contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
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effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
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inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame
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};
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return updateContacts.Schedule(((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.count, 128, inputDeps);
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}
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public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
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{
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var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
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var projectConstraints = new CollisionConstraintsBatchJob()
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{
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positions = solverImplementation.positions,
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prevPositions = solverImplementation.prevPositions,
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orientations = solverImplementation.orientations,
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prevOrientations = solverImplementation.prevOrientations,
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invMasses = solverImplementation.invMasses,
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radii = solverImplementation.principalRadii,
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particleMaterialIndices = solverImplementation.collisionMaterials,
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simplices = solverImplementation.simplices,
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simplexCounts = solverImplementation.simplexCounts,
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shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
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transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
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rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
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rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
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rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
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deltas = solverAbstraction.positionDeltas.AsNativeArray<float4>(),
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counts = solverAbstraction.positionConstraintCounts.AsNativeArray<int>(),
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contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
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effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
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inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
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constraintParameters = parameters,
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solverParameters = solverAbstraction.parameters,
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steps = steps,
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timeLeft = timeLeft,
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stepTime = stepTime,
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substepTime = substepTime
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};
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return projectConstraints.Schedule(inputDeps);
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}
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public override JobHandle Apply(JobHandle inputDeps, float substepTime)
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{
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var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
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var applyConstraints = new ApplyCollisionConstraintsBatchJob()
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{
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contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
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simplices = solverImplementation.simplices,
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simplexCounts = solverImplementation.simplexCounts,
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positions = solverImplementation.positions,
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deltas = solverImplementation.positionDeltas,
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counts = solverImplementation.positionConstraintCounts,
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orientations = solverImplementation.orientations,
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orientationDeltas = solverImplementation.orientationDeltas,
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orientationCounts = solverImplementation.orientationConstraintCounts,
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constraintParameters = parameters
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};
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return applyConstraints.Schedule(inputDeps);
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}
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/**
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* Updates contact data (such as contact distance) at the beginning of each substep. This is
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* necessary because contacts are generated only once at the beginning of each step, not every substep.
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*/
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[BurstCompile]
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public struct UpdateContactsJob : IJobParallelFor
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{
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[ReadOnly] public NativeArray<float4> prevPositions;
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[ReadOnly] public NativeArray<quaternion> prevOrientations;
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[ReadOnly] public NativeArray<float4> velocities;
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[ReadOnly] public NativeArray<float4> radii;
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[ReadOnly] public NativeArray<float> invMasses;
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[ReadOnly] public NativeArray<float> invRotationalMasses;
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[ReadOnly] public NativeArray<int> particleMaterialIndices;
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[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
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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<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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[ReadOnly] public NativeArray<float4> rigidbodyLinearDeltas;
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[ReadOnly] public NativeArray<float4> rigidbodyAngularDeltas;
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public NativeArray<ContactEffectiveMasses> effectiveMasses;
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public NativeArray<BurstContact> contacts;
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[ReadOnly] public BurstInertialFrame inertialFrame;
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public void Execute(int i)
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{
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var contact = contacts[i];
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var efMasses = effectiveMasses[i];
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int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
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// get the material from the first particle in the simplex:
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int aMaterialIndex = particleMaterialIndices[simplices[simplexStart]];
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bool rollingContacts = aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false;
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float4 relativeVelocity = float4.zero;
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float4 simplexPrevPosition = float4.zero;
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quaternion simplexPrevOrientation = new quaternion(0, 0, 0, 0);
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float simplexInvMass = 0;
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float simplexInvRotationalMass = 0;
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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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relativeVelocity += velocities[particleIndex] * contact.pointA[j];
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simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
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simplexPrevOrientation.value += prevOrientations[particleIndex].value * contact.pointA[j];
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simplexInvMass += invMasses[particleIndex] * contact.pointA[j];
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simplexInvRotationalMass = invRotationalMasses[particleIndex] * contact.pointA[j];
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simplexRadius += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
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}
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// if there's a rigidbody present, subtract its velocity from the relative velocity:
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int rigidbodyIndex = shapes[contact.bodyB].rigidbodyIndex;
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if (rigidbodyIndex >= 0)
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{
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relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
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int bMaterialIndex = shapes[contact.bodyB].materialIndex;
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rollingContacts |= bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false;
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}
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// update contact distance
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contact.distance = math.dot(simplexPrevPosition - contact.pointB, contact.normal) - simplexRadius;
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// calculate contact point in A's surface:
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float4 contactPoint = contact.pointB + contact.normal * contact.distance;
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// calculate contact tangent (first friction direction) using relative velocity:
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contact.CalculateTangent(relativeVelocity);
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// calculate A's contact mass.
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float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadius, simplexInvRotationalMass) + new float4(BurstMath.epsilon));
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efMasses.CalculateContactMassesA(simplexInvMass, invInertiaTensor, simplexPrevPosition, simplexPrevOrientation, contactPoint, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
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// calculate B's contact mass.
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if (rigidbodyIndex >= 0)
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efMasses.CalculateContactMassesB(rigidbodies[rigidbodyIndex], inertialFrame.frame, contact.pointB, contact.normal, contact.tangent, contact.bitangent);
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else
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efMasses.ClearContactMassesB();
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contacts[i] = contact;
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effectiveMasses[i] = efMasses;
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}
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}
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[BurstCompile]
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public struct CollisionConstraintsBatchJob : IJob
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{
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[ReadOnly] public NativeArray<float4> prevPositions;
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[ReadOnly] public NativeArray<quaternion> orientations;
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[ReadOnly] public NativeArray<quaternion> prevOrientations;
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[ReadOnly] public NativeArray<float> invMasses;
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[ReadOnly] public NativeArray<float4> radii;
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[ReadOnly] public NativeArray<int> particleMaterialIndices;
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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<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
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[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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public NativeArray<float4> rigidbodyLinearDeltas;
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public NativeArray<float4> rigidbodyAngularDeltas;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
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public NativeArray<BurstContact> contacts;
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[ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
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[ReadOnly] public BurstInertialFrame inertialFrame;
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[ReadOnly] public Oni.ConstraintParameters constraintParameters;
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[ReadOnly] public Oni.SolverParameters solverParameters;
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[ReadOnly] public float stepTime;
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[ReadOnly] public float substepTime;
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[ReadOnly] public float timeLeft;
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[ReadOnly] public int steps;
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public void Execute()
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{
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for (int i = 0; i < contacts.Length; ++i)
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{
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var contact = contacts[i];
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int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
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int colliderIndex = contact.bodyB;
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// Skip contacts involving triggers:
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if (shapes[colliderIndex].isTrigger)
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continue;
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// Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
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int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
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float frameEnd = stepTime * steps;
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float substepsToEnd = timeLeft / substepTime;
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// Combine collision materials (use material from first particle in simplex)
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BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
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// Get relative velocity at contact point.
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// As we do not consider true ellipses for collision detection, particle contact points are never off-axis.
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// So particle angular velocity does not contribute to normal impulses, and we can skip it.
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float4 simplexPosition = float4.zero;
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float4 simplexPrevPosition = 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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simplexPosition += positions[particleIndex] * contact.pointA[j];
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simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
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simplexRadius += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
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}
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// project position to the end of the full step:
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float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substepsToEnd);
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posA += -contact.normal * simplexRadius;
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float4 posB = contact.pointB;
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if (rigidbodyIndex >= 0)
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posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame) * frameEnd;
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// adhesion:
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float lambda = contact.SolveAdhesion(effectiveMasses[i].TotalNormalInvMass, posA, posB, material.stickDistance, material.stickiness, stepTime);
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// depenetration:
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lambda += contact.SolvePenetration(effectiveMasses[i].TotalNormalInvMass, posA, posB, solverParameters.maxDepenetration * stepTime);
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// Apply normal impulse to both simplex and rigidbody:
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if (math.abs(lambda) > BurstMath.epsilon)
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{
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float4 delta = lambda * contact.normal * BurstMath.BaryScale(contact.pointA) / substepsToEnd;
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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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deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j];
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counts[particleIndex]++;
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}
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// Apply position deltas immediately, if using sequential evaluation:
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if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
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{
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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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BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
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}
|
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}
|
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if (rigidbodyIndex >= 0)
|
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{
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BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / frameEnd * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
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}
|
||||
}
|
||||
|
||||
contacts[i] = contact;
|
||||
}
|
||||
}
|
||||
|
||||
private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
|
||||
{
|
||||
// Combine collision materials:
|
||||
int particleMaterialIndex = particleMaterialIndices[entityA];
|
||||
int colliderMaterialIndex = shapes[entityB].materialIndex;
|
||||
|
||||
if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
|
||||
return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
|
||||
else if (particleMaterialIndex >= 0)
|
||||
return collisionMaterials[particleMaterialIndex];
|
||||
else if (colliderMaterialIndex >= 0)
|
||||
return collisionMaterials[colliderMaterialIndex];
|
||||
|
||||
return new BurstCollisionMaterial();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 273c5561da8534560bb9b9e8d32ae092
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -1,33 +0,0 @@
|
||||
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
|
||||
using System;
|
||||
|
||||
namespace Obi
|
||||
{
|
||||
public class BurstColliderFrictionConstraints : BurstConstraintsImpl<BurstColliderFrictionConstraintsBatch>
|
||||
{
|
||||
public BurstColliderFrictionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
|
||||
{
|
||||
}
|
||||
|
||||
public override IConstraintsBatchImpl CreateConstraintsBatch()
|
||||
{
|
||||
var dataBatch = new BurstColliderFrictionConstraintsBatch(this);
|
||||
batches.Add(dataBatch);
|
||||
return dataBatch;
|
||||
}
|
||||
|
||||
|
||||
public override void RemoveBatch(IConstraintsBatchImpl batch)
|
||||
{
|
||||
batches.Remove(batch as BurstColliderFrictionConstraintsBatch);
|
||||
batch.Destroy();
|
||||
}
|
||||
|
||||
public override int GetConstraintCount()
|
||||
{
|
||||
return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 00f91403e75564dc6ace566943caa172
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -1,280 +0,0 @@
|
||||
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
|
||||
using Unity.Jobs;
|
||||
using Unity.Collections;
|
||||
using Unity.Collections.LowLevel.Unsafe;
|
||||
using Unity.Mathematics;
|
||||
using Unity.Burst;
|
||||
|
||||
namespace Obi
|
||||
{
|
||||
public class BurstColliderFrictionConstraintsBatch : BurstConstraintsBatchImpl, IColliderFrictionConstraintsBatchImpl
|
||||
{
|
||||
public BurstColliderFrictionConstraintsBatch(BurstColliderFrictionConstraints constraints)
|
||||
{
|
||||
m_Constraints = constraints;
|
||||
m_ConstraintType = Oni.ConstraintType.Friction;
|
||||
}
|
||||
|
||||
public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
|
||||
{
|
||||
return inputDeps;
|
||||
}
|
||||
|
||||
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
|
||||
{
|
||||
var projectConstraints = new FrictionConstraintsBatchJob()
|
||||
{
|
||||
positions = solverImplementation.positions,
|
||||
prevPositions = solverImplementation.prevPositions,
|
||||
orientations = solverImplementation.orientations,
|
||||
prevOrientations = solverImplementation.prevOrientations,
|
||||
|
||||
invMasses = solverImplementation.invMasses,
|
||||
invRotationalMasses = solverImplementation.invRotationalMasses,
|
||||
radii = solverImplementation.principalRadii,
|
||||
particleMaterialIndices = solverImplementation.collisionMaterials,
|
||||
|
||||
simplices = solverImplementation.simplices,
|
||||
simplexCounts = solverImplementation.simplexCounts,
|
||||
|
||||
shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
|
||||
transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
|
||||
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
|
||||
rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
|
||||
rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
|
||||
rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
|
||||
|
||||
deltas = solverImplementation.positionDeltas,
|
||||
counts = solverImplementation.positionConstraintCounts,
|
||||
orientationDeltas = solverImplementation.orientationDeltas,
|
||||
orientationCounts = solverImplementation.orientationConstraintCounts,
|
||||
|
||||
contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
|
||||
effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
|
||||
inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
|
||||
steps = steps,
|
||||
stepTime = stepTime,
|
||||
substepTime = substepTime
|
||||
};
|
||||
return projectConstraints.Schedule(inputDeps);
|
||||
}
|
||||
|
||||
public override JobHandle Apply(JobHandle inputDeps, float substepTime)
|
||||
{
|
||||
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
|
||||
|
||||
var applyConstraints = new ApplyCollisionConstraintsBatchJob()
|
||||
{
|
||||
contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
|
||||
|
||||
simplices = solverImplementation.simplices,
|
||||
simplexCounts = solverImplementation.simplexCounts,
|
||||
|
||||
positions = solverImplementation.positions,
|
||||
deltas = solverImplementation.positionDeltas,
|
||||
counts = solverImplementation.positionConstraintCounts,
|
||||
orientations = solverImplementation.orientations,
|
||||
orientationDeltas = solverImplementation.orientationDeltas,
|
||||
orientationCounts = solverImplementation.orientationConstraintCounts,
|
||||
constraintParameters = parameters
|
||||
};
|
||||
|
||||
return applyConstraints.Schedule(inputDeps);
|
||||
}
|
||||
|
||||
[BurstCompile]
|
||||
public struct FrictionConstraintsBatchJob : IJob
|
||||
{
|
||||
[ReadOnly] public NativeArray<float4> positions;
|
||||
[ReadOnly] public NativeArray<float4> prevPositions;
|
||||
[ReadOnly] public NativeArray<quaternion> orientations;
|
||||
[ReadOnly] public NativeArray<quaternion> prevOrientations;
|
||||
|
||||
[ReadOnly] public NativeArray<float> invMasses;
|
||||
[ReadOnly] public NativeArray<float> invRotationalMasses;
|
||||
[ReadOnly] public NativeArray<float4> radii;
|
||||
[ReadOnly] public NativeArray<int> particleMaterialIndices;
|
||||
|
||||
// simplex arrays:
|
||||
[ReadOnly] public NativeArray<int> simplices;
|
||||
[ReadOnly] public SimplexCounts simplexCounts;
|
||||
|
||||
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
|
||||
[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
|
||||
[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
|
||||
[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
|
||||
public NativeArray<float4> rigidbodyLinearDeltas;
|
||||
public NativeArray<float4> rigidbodyAngularDeltas;
|
||||
|
||||
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
|
||||
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
|
||||
|
||||
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
|
||||
[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
|
||||
|
||||
public NativeArray<BurstContact> contacts;
|
||||
[ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
|
||||
[ReadOnly] public BurstInertialFrame inertialFrame;
|
||||
[ReadOnly] public float stepTime;
|
||||
[ReadOnly] public float substepTime;
|
||||
[ReadOnly] public int steps;
|
||||
|
||||
public void Execute()
|
||||
{
|
||||
for (int i = 0; i < contacts.Length; ++i)
|
||||
{
|
||||
var contact = contacts[i];
|
||||
|
||||
// Get the indices of the particle and collider involved in this contact:
|
||||
int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
|
||||
int colliderIndex = contact.bodyB;
|
||||
|
||||
// Skip contacts involving triggers:
|
||||
if (shapes[colliderIndex].isTrigger)
|
||||
continue;
|
||||
|
||||
// Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
|
||||
int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
|
||||
|
||||
// Combine collision materials (use material from first particle in simplex)
|
||||
BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
|
||||
|
||||
// Calculate relative velocity:
|
||||
float4 rA = float4.zero, rB = float4.zero;
|
||||
|
||||
float4 prevPositionA = float4.zero;
|
||||
float4 linearVelocityA = float4.zero;
|
||||
float4 angularVelocityA = float4.zero;
|
||||
float invRotationalMassA = 0;
|
||||
quaternion orientationA = new quaternion(0, 0, 0, 0);
|
||||
float4 simplexRadiiA = float4.zero;
|
||||
|
||||
for (int j = 0; j < simplexSize; ++j)
|
||||
{
|
||||
int particleIndex = simplices[simplexStart + j];
|
||||
prevPositionA += prevPositions[particleIndex] * contact.pointA[j];
|
||||
linearVelocityA += BurstIntegration.DifferentiateLinear(positions[particleIndex],prevPositions[particleIndex], substepTime) * contact.pointA[j];
|
||||
angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
|
||||
invRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
|
||||
orientationA.value += orientations[particleIndex].value * contact.pointA[j];
|
||||
simplexRadiiA += radii[particleIndex] * contact.pointA[j];
|
||||
}
|
||||
|
||||
float4 relativeVelocity = linearVelocityA;
|
||||
|
||||
// Add particle angular velocity if rolling contacts are enabled:
|
||||
if (material.rollingContacts > 0)
|
||||
{
|
||||
rA = -contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationA, simplexRadiiA.xyz);
|
||||
relativeVelocity += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
|
||||
}
|
||||
|
||||
// Subtract rigidbody velocity:
|
||||
if (rigidbodyIndex >= 0)
|
||||
{
|
||||
// Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
|
||||
rB = inertialFrame.frame.TransformPoint(contact.pointB) - rigidbodies[rigidbodyIndex].com;
|
||||
relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
|
||||
}
|
||||
|
||||
// Determine impulse magnitude:
|
||||
float2 impulses = contact.SolveFriction(effectiveMasses[i].TotalTangentInvMass, effectiveMasses[i].TotalBitangentInvMass, relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
|
||||
|
||||
if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
|
||||
{
|
||||
float4 tangentImpulse = impulses.x * contact.tangent;
|
||||
float4 bitangentImpulse = impulses.y * contact.bitangent;
|
||||
float4 totalImpulse = tangentImpulse + bitangentImpulse;
|
||||
|
||||
float baryScale = BurstMath.BaryScale(contact.pointA);
|
||||
for (int j = 0; j < simplexSize; ++j)
|
||||
{
|
||||
int particleIndex = simplices[simplexStart + j];
|
||||
deltas[particleIndex] += (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale;
|
||||
counts[particleIndex]++;
|
||||
}
|
||||
|
||||
if (rigidbodyIndex >= 0)
|
||||
{
|
||||
BurstMath.ApplyImpulse(rigidbodyIndex, -totalImpulse, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
|
||||
}
|
||||
|
||||
// Rolling contacts:
|
||||
if (material.rollingContacts > 0)
|
||||
{
|
||||
// Calculate angular velocity deltas due to friction impulse:
|
||||
float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiA, invRotationalMassA) + new float4(BurstMath.epsilon));
|
||||
float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensor, orientationA);
|
||||
|
||||
float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
|
||||
float4 angVelDeltaB = float4.zero;
|
||||
|
||||
// Final angular velocities, after adding the deltas:
|
||||
angularVelocityA += angVelDeltaA;
|
||||
float4 angularVelocityB = float4.zero;
|
||||
|
||||
// Calculate weights (inverse masses):
|
||||
float invMassA = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
|
||||
float invMassB = 0;
|
||||
|
||||
if (rigidbodyIndex >= 0)
|
||||
{
|
||||
angVelDeltaB = math.mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
|
||||
angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
|
||||
invMassB = math.length(math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, math.normalizesafe(angularVelocityB)));
|
||||
}
|
||||
|
||||
// Calculate rolling axis and angular velocity deltas:
|
||||
float4 rollAxis = float4.zero;
|
||||
float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
|
||||
angVelDeltaA += rollAxis * rollingImpulse * invMassA;
|
||||
angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
|
||||
|
||||
// Apply orientation delta to particles:
|
||||
quaternion orientationDelta = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
|
||||
|
||||
for (int j = 0; j < simplexSize; ++j)
|
||||
{
|
||||
int particleIndex = simplices[simplexStart + j];
|
||||
quaternion qA = orientationDeltas[particleIndex];
|
||||
qA.value += orientationDelta.value;
|
||||
orientationDeltas[particleIndex] = qA;
|
||||
orientationCounts[particleIndex]++;
|
||||
}
|
||||
|
||||
// Apply angular velocity delta to rigidbody:
|
||||
if (rigidbodyIndex >= 0)
|
||||
{
|
||||
float4 angularDelta = rigidbodyAngularDeltas[rigidbodyIndex];
|
||||
angularDelta += angVelDeltaB;
|
||||
rigidbodyAngularDeltas[rigidbodyIndex] = angularDelta;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
contacts[i] = contact;
|
||||
}
|
||||
}
|
||||
|
||||
private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
|
||||
{
|
||||
// Combine collision materials:
|
||||
int particleMaterialIndex = particleMaterialIndices[entityA];
|
||||
int colliderMaterialIndex = shapes[entityB].materialIndex;
|
||||
|
||||
if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
|
||||
return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
|
||||
else if (particleMaterialIndex >= 0)
|
||||
return collisionMaterials[particleMaterialIndex];
|
||||
else if (colliderMaterialIndex >= 0)
|
||||
return collisionMaterials[colliderMaterialIndex];
|
||||
|
||||
return new BurstCollisionMaterial();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 9abf9b1d2ee1a4d09b965103ae78fe53
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Reference in New Issue
Block a user