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去掉obi，使用自写绳索

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

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta
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151
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.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 BurstSkinConstraintsBatch : BurstConstraintsBatchImpl, ISkinConstraintsBatchImpl
{
private NativeArray<float4> skinPoints;
private NativeArray<float4> skinNormals;
private NativeArray<float> skinRadiiBackstop;
private NativeArray<float> skinCompliance;
public BurstSkinConstraintsBatch(BurstSkinConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Skin;
}
public void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count)
{
this.particleIndices = particleIndices.AsNativeArray<int>();
this.skinPoints = skinPoints.AsNativeArray<float4>();
this.skinNormals = skinNormals.AsNativeArray<float4>();
this.skinRadiiBackstop = skinRadiiBackstop.AsNativeArray<float>();
this.skinCompliance = skinCompliance.AsNativeArray<float>();
this.lambdas = lambdas.AsNativeArray<float>();
m_ConstraintCount = count;
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
var projectConstraints = new SkinConstraintsBatchJob()
{
particleIndices = particleIndices,
skinPoints = skinPoints,
skinNormals = skinNormals,
skinRadiiBackstop = skinRadiiBackstop.Reinterpret<float, float3>(),
skinCompliance = skinCompliance,
lambdas = lambdas,
positions = solverImplementation.positions,
invMasses = solverImplementation.invMasses,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
deltaTimeSqr = substepTime * substepTime
};
return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
}
public override JobHandle Apply(JobHandle inputDeps, float substepTime)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
var applyConstraints = new ApplySkinConstraintsBatchJob()
{
particleIndices = particleIndices,
positions = solverImplementation.positions,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
sorFactor = parameters.SORFactor
};
return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
}
[BurstCompile]
public struct SkinConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[ReadOnly] public NativeArray<float4> skinPoints;
[ReadOnly] public NativeArray<float4> skinNormals;
[ReadOnly] public NativeArray<float3> skinRadiiBackstop;
[ReadOnly] public NativeArray<float> skinCompliance;
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)
{
float radius = skinRadiiBackstop[i].x;
float collisionRadius = skinRadiiBackstop[i].y;
float backstopDistance = collisionRadius + skinRadiiBackstop[i].z;
float compliance = skinCompliance[i] / deltaTimeSqr;
int p = particleIndices[i];
if (invMasses[p] > 0)
{
float4 toSkin = positions[p] - skinPoints[i];
float4 toBackstop = positions[p] - (skinPoints[i] - skinNormals[i] * backstopDistance);
// distance to skin and backstop sphere centers:
float d = math.length(toSkin);
float b = math.length(toBackstop);
// constrain particle within skin radius.
// ignore mass in the equations (use 1), as we don't want particle mass to interfere with skin compliance.
// We should be able to adjust skin properties and particle mass (for collisions) independently.
float constraint = math.max(0,d - radius);
float dlambda = (-constraint - compliance * lambdas[i]) / (1 + compliance);
lambdas[i] += dlambda;
deltas[p] += dlambda * toSkin / (d + BurstMath.epsilon);
counts[p]++;
// constrain particle outside the backstop sphere (0 compliance):
constraint = math.min(0, b - collisionRadius);
deltas[p] -= constraint * toBackstop / (b + BurstMath.epsilon);
}
}
}
[BurstCompile]
public struct ApplySkinConstraintsBatchJob : 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];
if (counts[p1] > 0)
{
positions[p1] += deltas[p1] * sorFactor / counts[p1];
deltas[p1] = float4.zero;
counts[p1] = 0;
}
}
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta
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