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

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta
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141
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.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 BurstTetherConstraintsBatch : BurstConstraintsBatchImpl, ITetherConstraintsBatchImpl
{
private NativeArray<float2> maxLengthScale;
private NativeArray<float> stiffnesses;
public BurstTetherConstraintsBatch(BurstTetherConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Tether;
}
public void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
{
this.particleIndices = particleIndices.AsNativeArray<int>();
this.maxLengthScale = maxLengthScale.AsNativeArray<float2>();
this.stiffnesses = stiffnesses.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 TetherConstraintsBatchJob()
{
particleIndices = particleIndices,
maxLengthScale = maxLengthScale,
stiffnesses = stiffnesses,
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 ApplyTetherConstraintsBatchJob()
{
particleIndices = particleIndices,
positions = solverImplementation.positions,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
sorFactor = parameters.SORFactor
};
return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
}
[BurstCompile]
public struct TetherConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> particleIndices;
[ReadOnly] public NativeArray<float2> maxLengthScale;
[ReadOnly] public NativeArray<float> 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] / deltaTimeSqr;
// calculate position and lambda deltas:
float4 distance = positions[p1] - positions[p2];
float d = math.length(distance);
// calculate constraint value (distance - rest length)
float constraint = d - (maxLengthScale[i].x * maxLengthScale[i].y);
if (constraint > 0)
{
// 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;
counts[p1]++;
}
}
}
[BurstCompile]
public struct ApplyTetherConstraintsBatchJob : IJobParallelFor
{
[ReadOnly] public NativeSlice<int> particleIndices;
// linear/position properties:
[NativeDisableParallelForRestriction] public NativeArray<float4> positions;
[NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
[NativeDisableParallelForRestriction] public NativeArray<int> counts;
[ReadOnly] public float sorFactor;
public void Execute(int index)
{
// only the first particle out of each pair is affected:
int i = particleIndices[index * 2];
if (counts[i] > 0)
{
positions[i] += deltas[i] * sorFactor / counts[i];
deltas[i] = float4.zero;
counts[i] = 0;
}
}
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta
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