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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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146
Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
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using UnityEngine;
using System;
using System.Collections;
using System.Collections.Generic;
namespace Obi
{
[Serializable]
public class ObiPinConstraintsBatch : ObiConstraintsBatch
{
protected IPinConstraintsBatchImpl m_BatchImpl;
/// <summary>
/// for each constraint, handle of the pinned collider.
/// </summary>
[HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
/// <summary>
/// index of the pinned collider in the collider world.
/// </summary>
[HideInInspector] public ObiNativeIntList colliderIndices = new ObiNativeIntList();
/// <summary>
/// Pin position expressed in the attachment's local space.
/// </summary>
[HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
/// <summary>
/// Rest Darboux vector for each constraint.
/// </summary>
[HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
/// <summary>
/// Compliances of pin constraits. 2 float per constraint (positional and rotational compliance).
/// </summary>
[HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
public override Oni.ConstraintType constraintType
{
get { return Oni.ConstraintType.Pin; }
}
public override IConstraintsBatchImpl implementation
{
get { return m_BatchImpl; }
}
public ObiPinConstraintsBatch(ObiPinConstraintsData constraints = null) : base()
{
}
public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, bool projectRenderable = false)
{
RegisterConstraint();
particleIndices.Add(solverIndex);
pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
colliderIndices.Add(body != null ? body.Handle.index : -1);
offsets.Add(new Vector4(offset.x, offset.y, offset.z, projectRenderable ? 1:0));
restDarbouxVectors.Add(restDarboux);
stiffnesses.Add(linearCompliance);
stiffnesses.Add(rotationalCompliance);
}
public override void Clear()
{
base.Clear();
particleIndices.Clear();
pinBodies.Clear();
colliderIndices.Clear();
offsets.Clear();
restDarbouxVectors.Clear();
stiffnesses.Clear();
}
public override void GetParticlesInvolved(int index, List<int> particles)
{
particles.Add(particleIndices[index]);
}
protected override void SwapConstraints(int sourceIndex, int destIndex)
{
particleIndices.Swap(sourceIndex, destIndex);
pinBodies.Swap(sourceIndex, destIndex);
colliderIndices.Swap(sourceIndex, destIndex);
offsets.Swap(sourceIndex, destIndex);
restDarbouxVectors.Swap(sourceIndex, destIndex);
stiffnesses.Swap(sourceIndex * 2, destIndex * 2);
stiffnesses.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiPinConstraintsBatch;
if (batch != null)
{
particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i];
colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
}
base.Merge(actor, other);
}
}
public override void AddToSolver(ObiSolver solver)
{
if (solver != null && solver.implementation != null)
{
m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IPinConstraintsBatchImpl;
if (m_BatchImpl != null)
m_BatchImpl.SetPinConstraints(particleIndices, colliderIndices, offsets, restDarbouxVectors, stiffnesses, lambdas, m_ActiveConstraintCount);
}
}
public override void RemoveFromSolver(ObiSolver solver)
{
base.RemoveFromSolver(solver);
restDarbouxVectors.Dispose();
colliderIndices.Dispose();
offsets.Dispose();
stiffnesses.Dispose();
if (solver != null && solver.implementation != null)
solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
}
}
}