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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/Distance/BurstDistanceConstraints.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using System;
namespace Obi
{
public class BurstDistanceConstraints : BurstConstraintsImpl<BurstDistanceConstraintsBatch>
{
public BurstDistanceConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
{
}
public override IConstraintsBatchImpl CreateConstraintsBatch()
{
var dataBatch = new BurstDistanceConstraintsBatch(this);
batches.Add(dataBatch);
return dataBatch;
}
public override void RemoveBatch(IConstraintsBatchImpl batch)
{
batches.Remove(batch as BurstDistanceConstraintsBatch);
batch.Destroy();
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta
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146
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.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 BurstDistanceConstraintsBatch : BurstConstraintsBatchImpl, IDistanceConstraintsBatchImpl
{
private NativeArray<float> restLengths;
private NativeArray<float2> stiffnesses;
DistanceConstraintsBatchJob projectConstraints;
ApplyDistanceConstraintsBatchJob applyConstraints;
public BurstDistanceConstraintsBatch(BurstDistanceConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Distance;
}
public void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count)
{
this.particleIndices = particleIndices.AsNativeArray<int>();
this.restLengths = restLengths.AsNativeArray<float>();
this.stiffnesses = stiffnesses.AsNativeArray<float2>();
this.lambdas = lambdas.AsNativeArray<float>();
m_ConstraintCount = count;
projectConstraints.particleIndices = this.particleIndices;
projectConstraints.restLengths = this.restLengths;
projectConstraints.stiffnesses = this.stiffnesses;
projectConstraints.lambdas = this.lambdas;
applyConstraints.particleIndices = this.particleIndices;
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
projectConstraints.positions = solverImplementation.positions;
projectConstraints.invMasses = solverImplementation.invMasses;
projectConstraints.deltas = solverImplementation.positionDeltas;
projectConstraints.counts = solverImplementation.positionConstraintCounts;
projectConstraints.deltaTimeSqr = substepTime * substepTime;
return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
}
public override JobHandle Apply(JobHandle inputDeps, float substepTime)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
applyConstraints.positions = solverImplementation.positions;
applyConstraints.deltas = solverImplementation.positionDeltas;
applyConstraints.counts = solverImplementation.positionConstraintCounts;
applyConstraints.sorFactor = parameters.SORFactor;
return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
}
[BurstCompile]
public struct DistanceConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[ReadOnly] public NativeArray<float> restLengths;
[ReadOnly] public NativeArray<float2> stiffnesses;
public NativeArray<float> lambdas;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float> invMasses;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
[ReadOnly] public float deltaTimeSqr;
public void Execute(int i)
{
int p1 = particleIndices[i * 2];
int p2 = particleIndices[i * 2 + 1];
float w1 = invMasses[p1];
float w2 = invMasses[p2];
// calculate time adjusted compliance
float compliance = stiffnesses[i].x / deltaTimeSqr;
// calculate position and lambda deltas:
float4 distance = positions[p1] - positions[p2];
float d = math.length(distance);
// calculate constraint value:
float constraint = d - restLengths[i];
constraint -= math.max(math.min(constraint, 0), -stiffnesses[i].y);
// calculate lambda and position deltas:
float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
float4 delta = dlambda * distance / (d + BurstMath.epsilon);
lambdas[i] += dlambda;
deltas[p1] += delta * w1;
deltas[p2] -= delta * w2;
counts[p1]++;
counts[p2]++;
}
}
[BurstCompile]
public struct ApplyDistanceConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[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 p1 = particleIndices[i * 2];
int p2 = particleIndices[i * 2 + 1];
if (counts[p1] > 0)
{
positions[p1] += deltas[p1] * sorFactor / counts[p1];
deltas[p1] = float4.zero;
counts[p1] = 0;
}
if (counts[p2] > 0)
{
positions[p2] += deltas[p2] * sorFactor / counts[p2];
deltas[p2] = float4.zero;
counts[p2] = 0;
}
}
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta
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