去掉obi，使用自写绳索

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

@@ -1,141 +0,0 @@
-#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