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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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156
Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using System;
namespace Obi
{
[Serializable]
public class ObiStretchShearConstraintsBatch : ObiConstraintsBatch, IStructuralConstraintBatch
{
protected IStretchShearConstraintsBatchImpl m_BatchImpl;
/// <summary>
/// index of particle orientation for each constraint.
/// </summary>
[HideInInspector] public ObiNativeIntList orientationIndices = new ObiNativeIntList();
/// <summary>
/// rest distance for each constraint.
/// </summary>
[HideInInspector] public ObiNativeFloatList restLengths = new ObiNativeFloatList();
/// <summary>
/// rest orientation for each constraint.
/// </summary>
[HideInInspector] public ObiNativeQuaternionList restOrientations = new ObiNativeQuaternionList();
/// <summary>
/// 3 compliance values per constraint, one for each local axis (x,y,z).
/// </summary>
[HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();
public override Oni.ConstraintType constraintType
{
get { return Oni.ConstraintType.StretchShear; }
}
public override IConstraintsBatchImpl implementation
{
get { return m_BatchImpl; }
}
public ObiStretchShearConstraintsBatch(ObiStretchShearConstraintsData constraints = null) : base()
{
}
public void AddConstraint(Vector2Int indices, int orientationIndex, float restLength, Quaternion restOrientation)
{
RegisterConstraint();
particleIndices.Add(indices[0]);
particleIndices.Add(indices[1]);
orientationIndices.Add(orientationIndex);
restLengths.Add(restLength);
restOrientations.Add(restOrientation);
stiffnesses.Add(Vector3.zero);
}
public override void Clear()
{
base.Clear();
particleIndices.Clear();
orientationIndices.Clear();
restLengths.Clear();
restOrientations.Clear();
stiffnesses.Clear();
}
public float GetRestLength(int index)
{
return restLengths[index];
}
public void SetRestLength(int index, float restLength)
{
restLengths[index] = restLength;
}
public ParticlePair GetParticleIndices(int index)
{
return new ParticlePair(particleIndices[index * 2], particleIndices[index * 2 + 1]);
}
public override void GetParticlesInvolved(int index, List<int> particles)
{
particles.Add(particleIndices[index * 2]);
particles.Add(particleIndices[index * 2 + 1]);
}
protected override void SwapConstraints(int sourceIndex, int destIndex)
{
particleIndices.Swap(sourceIndex * 2 , destIndex * 2);
particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
orientationIndices.Swap(sourceIndex, destIndex);
restLengths.Swap(sourceIndex, destIndex);
restOrientations.Swap(sourceIndex, destIndex);
stiffnesses.Swap(sourceIndex, destIndex);
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiStretchShearConstraintsBatch;
var user = actor as IStretchShearConstraintsUser;
if (batch != null && user != null)
{
if (!user.stretchShearConstraintsEnabled)
return;
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount; ++i)
stiffnesses[m_ActiveConstraintCount + i] = user.GetStretchShearCompliance(batch, i);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
for (int i = 0; i < batch.activeConstraintCount; ++i)
orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]];
base.Merge(actor, other);
}
}
public override void AddToSolver(ObiSolver solver)
{
// Create distance constraints batch directly.
m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IStretchShearConstraintsBatchImpl;
if (m_BatchImpl != null)
m_BatchImpl.SetStretchShearConstraints(particleIndices, orientationIndices, restLengths, restOrientations, stiffnesses, lambdas, m_ActiveConstraintCount);
}
public override void RemoveFromSolver(ObiSolver solver)
{
base.RemoveFromSolver(solver);
orientationIndices.Dispose();
restLengths.Dispose();
restOrientations.Dispose();
stiffnesses.Dispose();
//Remove batch:
solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
}
}
}