去掉obi，使用自写绳索
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using Unity.Mathematics;
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namespace Obi
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{
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public struct BurstContact : IConstraint, System.IComparable<BurstContact>
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{
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public float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
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public float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
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public float4 normal; // contact normal on bodyB's surface.
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public float4 tangent; // contact tangent on bodyB's surface.
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public float distance; // distance between bodyA's and bodyB's surface.
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public float normalLambda;
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public float tangentLambda;
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public float bitangentLambda;
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public float stickLambda;
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public float rollingFrictionImpulse;
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public int bodyA;
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public int bodyB;
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public int GetParticleCount() { return 2; }
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public int GetParticle(int index) { return index == 0 ? bodyA : bodyB; }
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public float4 bitangent => math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz), 0));
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public override string ToString()
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{
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return bodyA + "," + bodyB;
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}
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public int CompareTo(BurstContact other)
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{
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int first = bodyA.CompareTo(other.bodyA);
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if (first == 0)
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return bodyB.CompareTo(other.bodyB);
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return first;
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}
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public void CalculateTangent(float4 relativeVelocity)
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{
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tangent = math.normalizesafe(relativeVelocity - math.dot(relativeVelocity, normal) * normal);
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}
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public float SolveAdhesion(float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
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{
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if (normalMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
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return 0;
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distance = math.dot(posA - posB, normal);
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// calculate stickiness position correction:
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float constraint = stickiness * (1 - math.max(distance / stickDistance, 0)) * dt;
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// calculate lambda multiplier:
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float dlambda = -constraint / normalMass;
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// accumulate lambda:
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float newStickinessLambda = math.min(stickLambda + dlambda, 0);
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// calculate lambda change and update accumulated lambda:
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float lambdaChange = newStickinessLambda - stickLambda;
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stickLambda = newStickinessLambda;
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return lambdaChange;
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}
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public float SolvePenetration(float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
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{
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if (normalMass <= 0)
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return 0;
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//project position delta to normal vector:
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distance = math.dot(posA - posB, normal);
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// calculate max projection distance based on depenetration velocity:
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float maxProjection = math.max(-distance - maxDepenetrationDelta, 0);
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// calculate lambda multiplier:
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float dlambda = -(distance + maxProjection) / normalMass;
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// accumulate lambda:
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float newLambda = math.max(normalLambda + dlambda, 0);
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// calculate lambda change and update accumulated lambda:
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float lambdaChange = newLambda - normalLambda;
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normalLambda = newLambda;
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return lambdaChange;
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}
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public float2 SolveFriction(float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
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{
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float2 lambdaChange = float2.zero;
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if (tangentMass <= 0 || bitangentMass <= 0 ||
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(dynamicFriction <= 0 && staticFriction <= 0) || (normalLambda <= 0 && stickLambda <= 0))
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return lambdaChange;
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// calculate delta projection on both friction axis:
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float tangentPosDelta = math.dot(relativeVelocity, tangent);
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float bitangentPosDelta = math.dot(relativeVelocity, bitangent);
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// calculate friction pyramid limit:
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float dynamicFrictionCone = normalLambda / dt * dynamicFriction;
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float staticFrictionCone = normalLambda / dt * staticFriction;
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// tangent impulse:
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float tangentLambdaDelta = -tangentPosDelta / tangentMass;
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float newTangentLambda = tangentLambda + tangentLambdaDelta;
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if (math.abs(newTangentLambda) > staticFrictionCone)
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newTangentLambda = math.clamp(newTangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
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lambdaChange[0] = newTangentLambda - tangentLambda;
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tangentLambda = newTangentLambda;
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// bitangent impulse:
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float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
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float newBitangentLambda = bitangentLambda + bitangentLambdaDelta;
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if (math.abs(newBitangentLambda) > staticFrictionCone)
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newBitangentLambda = math.clamp(newBitangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
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lambdaChange[1] = newBitangentLambda - bitangentLambda;
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bitangentLambda = newBitangentLambda;
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return lambdaChange;
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}
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public float SolveRollingFriction(float4 angularVelocityA,
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float4 angularVelocityB,
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float rollingFriction,
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float invMassA,
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float invMassB,
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ref float4 rolling_axis)
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{
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float totalInvMass = invMassA + invMassB;
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if (totalInvMass <= 0)
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return 0;
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rolling_axis = math.normalizesafe(angularVelocityA - angularVelocityB);
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float vel1 = math.dot(angularVelocityA,rolling_axis);
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float vel2 = math.dot(angularVelocityB,rolling_axis);
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float relativeVelocity = vel1 - vel2;
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float maxImpulse = normalLambda * rollingFriction;
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float newRollingImpulse = math.clamp(rollingFrictionImpulse - relativeVelocity / totalInvMass, -maxImpulse, maxImpulse);
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float rolling_impulse_change = newRollingImpulse - rollingFrictionImpulse;
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rollingFrictionImpulse = newRollingImpulse;
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return rolling_impulse_change;
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}
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}
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}
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#endif
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