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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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58
Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
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#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Jobs;
using Unity.Collections;
using Unity.Mathematics;
using Unity.Burst;
using System;
using System.Collections;
namespace Obi
{
[BurstCompile]
struct ApplyInertialForcesJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> activeParticles;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public float4 angularVel;
[ReadOnly] public float4 inertialAccel;
[ReadOnly] public float4 eulerAccel;
[ReadOnly] public float worldLinearInertiaScale;
[ReadOnly] public float worldAngularInertiaScale;
[NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
[NativeDisableParallelForRestriction] public NativeArray<float4> wind;
[ReadOnly] public float deltaTime;
[ReadOnly] public float4 ambientWind;
[ReadOnly] public BurstInertialFrame inertialFrame;
[ReadOnly] public bool inertialWind;
public void Execute(int index)
{
int i = activeParticles[index];
if (invMasses[i] > 0)
{
float4 euler = new float4(math.cross(eulerAccel.xyz, positions[i].xyz), 0);
float4 centrifugal = new float4(math.cross(angularVel.xyz, math.cross(angularVel.xyz, positions[i].xyz)), 0);
float4 coriolis = 2 * new float4(math.cross(angularVel.xyz, velocities[i].xyz), 0);
float4 angularAccel = euler + coriolis + centrifugal;
velocities[i] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
}
wind[i] = ambientWind;
if (inertialWind)
{
float4 wsPos = inertialFrame.frame.TransformPoint(positions[i]);
wind[i] -= inertialFrame.frame.InverseTransformVector(inertialFrame.VelocityAtPoint(wsPos));
}
}
}
}
#endif