去掉obi，使用自写绳索
This commit is contained in:
@@ -1,704 +0,0 @@
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using UnityEngine;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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namespace Obi
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{
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public class ObiResourceHandle<T> where T : class
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{
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public T owner = null; /**< reference to the owner instance*/
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public int index = -1; /**< index of this resource in the collision world.*/
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private int referenceCount = 0; /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
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public bool isValid
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{
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get { return index >= 0; }
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}
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public void Invalidate()
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{
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index = -1;
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referenceCount = 0;
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}
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public void Reference()
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{
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referenceCount++;
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}
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public bool Dereference()
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{
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return --referenceCount == 0;
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}
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public ObiResourceHandle(int index = -1)
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{
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this.index = index;
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owner = null;
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}
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}
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public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
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{
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public ObiColliderHandle(int index = -1) : base(index) { }
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}
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public class ObiForceZoneHandle : ObiResourceHandle<ObiForceZone>
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{
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public ObiForceZoneHandle(int index = -1) : base(index) { }
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}
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public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
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{
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public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
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}
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public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
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{
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public ObiRigidbodyHandle(int index = -1) : base(index) { }
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}
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public class ObiColliderWorld
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{
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[NonSerialized] public List<IColliderWorldImpl> implementations;
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[NonSerialized] public List<ObiColliderHandle> colliderHandles; // list of collider handles, used by ObiCollider components to retrieve them.
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[NonSerialized] public ObiNativeColliderShapeList colliderShapes; // list of collider shapes.
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[NonSerialized] public ObiNativeAabbList colliderAabbs; // list of collider bounds.
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[NonSerialized] public ObiNativeAffineTransformList colliderTransforms; // list of collider transforms.
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[NonSerialized] public List<ObiForceZoneHandle> forceZoneHandles; // list of collider handles, used by ObiForceZone components to retrieve them.
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[NonSerialized] public ObiNativeForceZoneList forceZones; // list of collider force zones.
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[NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles; // list of material handles, used by ObiCollisionMaterial components to retrieve them.
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[NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
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[NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles; // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
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[NonSerialized] public ObiNativeRigidbodyList rigidbodies; // list of rigidbodies.
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[NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
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[NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
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[NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
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[NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
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private List<ObiColliderHandle> collidersToCreate;
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private List<ObiColliderHandle> collidersToDestroy;
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private List<ObiForceZoneHandle> forceZonesToCreate;
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private List<ObiForceZoneHandle> forceZonesToDestroy;
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private List<ObiRigidbodyHandle> rigidbodiesToCreate;
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private List<ObiRigidbodyHandle> rigidbodiesToDestroy;
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public int collidersToUpdateCount { private set; get; } = 0; // amount of colliders that need to be updated. These are always grouped at the start of the collider arrays (handles, shapes, etc).
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private bool dirty = false;
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private static ObiColliderWorld instance;
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public static ObiColliderWorld GetInstance()
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{
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if (instance == null)
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{
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instance = new ObiColliderWorld();
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instance.Initialize();
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}
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return instance;
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}
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private void Initialize()
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{
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// Allocate all lists:
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if (implementations == null)
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implementations = new List<IColliderWorldImpl>();
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if (colliderHandles == null)
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colliderHandles = new List<ObiColliderHandle>();
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if (colliderShapes == null)
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colliderShapes = new ObiNativeColliderShapeList();
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if (colliderAabbs == null)
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colliderAabbs = new ObiNativeAabbList();
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if (colliderTransforms == null)
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colliderTransforms = new ObiNativeAffineTransformList();
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if (forceZoneHandles == null)
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forceZoneHandles = new List<ObiForceZoneHandle>();
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if (forceZones == null)
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forceZones = new ObiNativeForceZoneList();
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if (materialHandles == null)
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materialHandles = new List<ObiCollisionMaterialHandle>();
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if (collisionMaterials == null)
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collisionMaterials = new ObiNativeCollisionMaterialList();
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if (rigidbodyHandles == null)
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rigidbodyHandles = new List<ObiRigidbodyHandle>();
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if (rigidbodies == null)
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rigidbodies = new ObiNativeRigidbodyList();
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if (triangleMeshContainer == null)
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triangleMeshContainer = new ObiTriangleMeshContainer();
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if (edgeMeshContainer == null)
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edgeMeshContainer = new ObiEdgeMeshContainer();
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if (distanceFieldContainer == null)
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distanceFieldContainer = new ObiDistanceFieldContainer();
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if (heightFieldContainer == null)
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heightFieldContainer = new ObiHeightFieldContainer();
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if (collidersToCreate == null)
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collidersToCreate = new List<ObiColliderHandle>();
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if (collidersToDestroy == null)
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collidersToDestroy = new List<ObiColliderHandle>();
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if (forceZonesToCreate == null)
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forceZonesToCreate = new List<ObiForceZoneHandle>();
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if (forceZonesToDestroy == null)
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forceZonesToDestroy = new List<ObiForceZoneHandle>();
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if (rigidbodiesToCreate == null)
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rigidbodiesToCreate = new List<ObiRigidbodyHandle>();
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if (rigidbodiesToDestroy == null)
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rigidbodiesToDestroy = new List<ObiRigidbodyHandle>();
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}
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private void Destroy()
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{
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dirty = false;
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for (int i = 0; i < implementations.Count; ++i)
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{
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implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
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implementations[i].UpdateWorld(0);
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}
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// Invalidate all handles:
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if (colliderHandles != null)
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foreach (var handle in colliderHandles)
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handle.Invalidate();
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if (rigidbodyHandles != null)
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foreach (var handle in rigidbodyHandles)
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handle.Invalidate();
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if (materialHandles != null)
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foreach (var handle in materialHandles)
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handle.Invalidate();
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if (forceZoneHandles != null)
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foreach (var handle in forceZoneHandles)
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handle.Invalidate();
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// Dispose of all lists:
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implementations = null;
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colliderHandles = null;
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rigidbodyHandles = null;
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materialHandles = null;
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forceZoneHandles = null;
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collidersToCreate = null;
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collidersToDestroy = null;
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forceZonesToCreate = null;
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forceZonesToDestroy = null;
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rigidbodiesToCreate = null;
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rigidbodiesToDestroy = null;
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colliderShapes?.Dispose();
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colliderAabbs?.Dispose();
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colliderTransforms?.Dispose();
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forceZones?.Dispose();
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collisionMaterials?.Dispose();
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rigidbodies?.Dispose();
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triangleMeshContainer?.Dispose();
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edgeMeshContainer?.Dispose();
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distanceFieldContainer?.Dispose();
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heightFieldContainer?.Dispose();
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instance = null;
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}
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private void DestroyIfUnused()
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{
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// when there is no data and no implementations, the world gets destroyed.
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// don't check materialHandles.Count == 0, as these are scriptable objects and may outlive the world.
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if (colliderHandles.Count == 0 &&
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rigidbodyHandles.Count == 0 &&
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forceZoneHandles.Count == 0 &&
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implementations.Count == 0)
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Destroy();
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}
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public void RegisterImplementation(IColliderWorldImpl impl)
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{
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if (!implementations.Contains(impl))
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implementations.Add(impl);
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}
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public void UnregisterImplementation(IColliderWorldImpl impl)
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{
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implementations.Remove(impl);
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DestroyIfUnused();
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}
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public ObiColliderHandle CreateCollider()
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{
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var handle = new ObiColliderHandle();
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// in-editor, we create data right away since the simulation is not running.
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if (!Application.isPlaying)
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CreateColliderData(handle);
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else
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collidersToCreate.Add(handle);
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return handle;
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}
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public ObiForceZoneHandle CreateForceZone()
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{
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var handle = new ObiForceZoneHandle();
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// in-editor, we create data right away since the simulation is not running.
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if (!Application.isPlaying)
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CreateForceZoneData(handle);
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else
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forceZonesToCreate.Add(handle);
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return handle;
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}
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public ObiRigidbodyHandle CreateRigidbody()
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{
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var handle = new ObiRigidbodyHandle();
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// in-editor, we create data right away since the simulation is not running.
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if (!Application.isPlaying)
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CreateRigidbodyData(handle);
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else
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rigidbodiesToCreate.Add(handle);
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return handle;
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}
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public ObiCollisionMaterialHandle CreateCollisionMaterial()
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{
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var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
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materialHandles.Add(handle);
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collisionMaterials.Add(new CollisionMaterial());
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return handle;
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}
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public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
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{
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return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
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}
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public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
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{
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triangleMeshContainer.DestroyTriangleMesh(meshHandle);
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}
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public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
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{
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return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
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}
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public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
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{
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edgeMeshContainer.DestroyEdgeMesh(meshHandle);
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}
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public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
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{
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return distanceFieldContainer.GetOrCreateDistanceField(df);
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}
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public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
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{
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distanceFieldContainer.DestroyDistanceField(dfHandle);
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}
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public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
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{
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return heightFieldContainer.GetOrCreateHeightField(hf);
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}
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public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
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{
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heightFieldContainer.DestroyHeightField(hfHandle);
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}
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public void DestroyCollider(ObiColliderHandle handle)
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{
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// Destroy data right away if no simulation is running.
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if (!Application.isPlaying || implementations.Count == 0)
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DestroyColliderData(handle);
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else
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{
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// In case the handle is in the creation queue, just remove it.
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if (!collidersToCreate.Remove(handle))
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collidersToDestroy.Add(handle);
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}
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}
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public void DestroyForceZone(ObiForceZoneHandle handle)
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{
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// Destroy data right away if no simulation is running.
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if (!Application.isPlaying || implementations.Count == 0)
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DestroyForceZoneData(handle);
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else
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{
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// In case the handle is in the creation queue, just remove it.
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if (!forceZonesToCreate.Remove(handle))
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forceZonesToDestroy.Add(handle);
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}
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}
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public void DestroyRigidbody(ObiRigidbodyHandle handle)
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{
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// Destroy data right away if no simulation is running.
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if (!Application.isPlaying || implementations.Count == 0)
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DestroyRigidbodyData(handle);
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else
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{
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// In case the handle is in the creation queue, just remove it.
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if (!rigidbodiesToCreate.Remove(handle))
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rigidbodiesToDestroy.Add(handle);
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}
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}
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public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
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{
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if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
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{
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int index = handle.index;
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int lastIndex = materialHandles.Count - 1;
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// swap all collider info:
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materialHandles.Swap(index, lastIndex);
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collisionMaterials.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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materialHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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materialHandles.RemoveAt(lastIndex);
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collisionMaterials.count--;
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DestroyIfUnused();
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}
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}
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private void DestroyColliderData (ObiColliderHandle handle)
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{
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if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
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{
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int index = handle.index;
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int lastIndex = colliderHandles.Count - 1;
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// swap all collider info:
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colliderHandles.Swap(index, lastIndex);
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colliderShapes.Swap(index, lastIndex);
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colliderAabbs.Swap(index, lastIndex);
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colliderTransforms.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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colliderHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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colliderHandles.RemoveAt(lastIndex);
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colliderShapes.count--;
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colliderAabbs.count--;
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colliderTransforms.count--;
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// force all colliders to update next frame, as the index of the data they reference
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// (eg the mesh in a MeshCollider) may have changed as a result of deleting this collider's data.
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collidersToUpdateCount = colliderHandles.Count;
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DestroyIfUnused();
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}
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}
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private void DestroyForceZoneData(ObiForceZoneHandle handle)
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{
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if (forceZones != null && handle != null && handle.isValid && handle.index < forceZoneHandles.Count)
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{
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int index = handle.index;
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int lastIndex = forceZoneHandles.Count - 1;
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// swap all force zone info:
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forceZoneHandles.Swap(index, lastIndex);
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forceZones.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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forceZoneHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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forceZoneHandles.RemoveAt(lastIndex);
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forceZones.count--;
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DestroyIfUnused();
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}
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}
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private void DestroyRigidbodyData(ObiRigidbodyHandle handle)
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{
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if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
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{
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int index = handle.index;
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int lastIndex = rigidbodyHandles.Count - 1;
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// swap all collider info:
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rigidbodyHandles.Swap(index, lastIndex);
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rigidbodies.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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rigidbodyHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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rigidbodyHandles.RemoveAt(lastIndex);
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rigidbodies.count--;
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DestroyIfUnused();
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}
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}
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private void CreateColliderData(ObiColliderHandle handle)
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{
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handle.index = colliderHandles.Count;
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colliderHandles.Add(handle);
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colliderShapes.Add(new ColliderShape { materialIndex = -1, rigidbodyIndex = -1, dataIndex = -1 });
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colliderAabbs.Add(new Aabb());
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colliderTransforms.Add(new AffineTransform());
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MarkColliderAsNeedingUpdate(handle);
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}
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private void CreateForceZoneData(ObiForceZoneHandle handle)
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{
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handle.index = forceZoneHandles.Count;
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forceZoneHandles.Add(handle);
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forceZones.Add(new ForceZone());
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}
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private void CreateRigidbodyData(ObiRigidbodyHandle handle)
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||||
{
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||||
handle.index = rigidbodyHandles.Count;
|
||||
rigidbodyHandles.Add(handle);
|
||||
rigidbodies.Add(new ColliderRigidbody());
|
||||
}
|
||||
|
||||
public bool DoesColliderRequireToBeUpdated(ObiColliderHandle handle)
|
||||
{
|
||||
if (handle != null && handle.isValid &&
|
||||
handle.index < colliderHandles.Count && handle.index < collidersToUpdateCount)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
public void MarkColliderAsNeedingUpdate(ObiColliderHandle handle)
|
||||
{
|
||||
if (colliderShapes != null && handle != null && handle.isValid &&
|
||||
handle.index < colliderHandles.Count && handle.index >= collidersToUpdateCount &&
|
||||
collidersToUpdateCount < colliderHandles.Count)
|
||||
{
|
||||
int index = handle.index;
|
||||
int lastIndex = collidersToUpdateCount;
|
||||
|
||||
// swap all collider info:
|
||||
colliderHandles.Swap(index, lastIndex);
|
||||
colliderShapes.Swap(index, lastIndex);
|
||||
colliderAabbs.Swap(index, lastIndex);
|
||||
colliderTransforms.Swap(index, lastIndex);
|
||||
|
||||
// update handles:
|
||||
colliderHandles[lastIndex].index = lastIndex;
|
||||
colliderHandles[index].index = index;
|
||||
|
||||
collidersToUpdateCount++;
|
||||
}
|
||||
}
|
||||
|
||||
public void MarkColliderAsNotNeedingUpdate(ObiColliderHandle handle)
|
||||
{
|
||||
if (colliderShapes != null && handle != null && handle.isValid &&
|
||||
handle.index < colliderHandles.Count && handle.index < collidersToUpdateCount)
|
||||
{
|
||||
int index = handle.index;
|
||||
int lastIndex = collidersToUpdateCount-1;
|
||||
|
||||
// swap all collider info:
|
||||
colliderHandles.Swap(index, lastIndex);
|
||||
colliderShapes.Swap(index, lastIndex);
|
||||
colliderAabbs.Swap(index, lastIndex);
|
||||
colliderTransforms.Swap(index, lastIndex);
|
||||
|
||||
// update handles:
|
||||
colliderHandles[lastIndex].index = lastIndex;
|
||||
colliderHandles[index].index = index;
|
||||
|
||||
collidersToUpdateCount--;
|
||||
}
|
||||
}
|
||||
|
||||
public void FlushHandleBuffers()
|
||||
{
|
||||
// First process destruction, then process creation.
|
||||
// In case we create a handle and then destroy it,
|
||||
// we should enqueue it for destruction only if it's not in the creation queue.
|
||||
// If it is, just remove if from the creation queue.
|
||||
|
||||
if (collidersToDestroy != null)
|
||||
{
|
||||
foreach (var handle in collidersToDestroy)
|
||||
DestroyColliderData(handle);
|
||||
collidersToDestroy?.Clear();
|
||||
}
|
||||
|
||||
if (forceZonesToDestroy != null)
|
||||
{
|
||||
foreach (var handle in forceZonesToDestroy)
|
||||
DestroyForceZoneData(handle);
|
||||
forceZonesToDestroy?.Clear();
|
||||
}
|
||||
|
||||
if (rigidbodiesToDestroy != null)
|
||||
{
|
||||
foreach (var handle in rigidbodiesToDestroy)
|
||||
DestroyRigidbodyData(handle);
|
||||
rigidbodiesToDestroy?.Clear();
|
||||
}
|
||||
|
||||
if (collidersToCreate != null)
|
||||
{
|
||||
foreach (var handle in collidersToCreate)
|
||||
CreateColliderData(handle);
|
||||
collidersToCreate?.Clear();
|
||||
}
|
||||
|
||||
if (forceZonesToCreate != null)
|
||||
{
|
||||
foreach (var handle in forceZonesToCreate)
|
||||
CreateForceZoneData(handle);
|
||||
forceZonesToCreate?.Clear();
|
||||
}
|
||||
|
||||
if (rigidbodiesToCreate != null)
|
||||
{
|
||||
foreach (var handle in rigidbodiesToCreate)
|
||||
CreateRigidbodyData(handle);
|
||||
rigidbodiesToCreate?.Clear();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void UpdateWorld(float deltaTime, bool updateDynamics = true)
|
||||
{
|
||||
if (!dirty)
|
||||
return;
|
||||
|
||||
dirty = false;
|
||||
|
||||
// ensure all objects have valid handles.
|
||||
// May destroy the world if it's empty,
|
||||
// so we next check that handle/implementations are not null.
|
||||
FlushHandleBuffers();
|
||||
|
||||
// update all colliders:
|
||||
if (colliderHandles != null)
|
||||
for (int i = 0; i < collidersToUpdateCount; ++i)
|
||||
colliderHandles[i].owner.UpdateIfNeeded();
|
||||
|
||||
// update all force zones:
|
||||
if (forceZoneHandles != null)
|
||||
for (int i = 0; i < forceZoneHandles.Count; ++i)
|
||||
forceZoneHandles[i].owner.UpdateIfNeeded();
|
||||
|
||||
// update rigidbodies:
|
||||
if (rigidbodyHandles != null && updateDynamics)
|
||||
for (int i = 0; i < rigidbodyHandles.Count; ++i)
|
||||
rigidbodyHandles[i].owner.UpdateIfNeeded(deltaTime);
|
||||
|
||||
// update implementations:
|
||||
if (implementations != null)
|
||||
for (int i = 0; i < implementations.Count; ++i)
|
||||
{
|
||||
if (implementations[i].referenceCount > 0)
|
||||
{
|
||||
// set arrays:
|
||||
implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
|
||||
implementations[i].SetForceZones(forceZones);
|
||||
implementations[i].SetRigidbodies(rigidbodies);
|
||||
implementations[i].SetCollisionMaterials(collisionMaterials);
|
||||
implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
|
||||
implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
|
||||
implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
|
||||
implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
|
||||
|
||||
// update world implementation:
|
||||
if (updateDynamics)
|
||||
implementations[i].UpdateWorld(deltaTime);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void SetDirty()
|
||||
{
|
||||
dirty = true;
|
||||
}
|
||||
|
||||
public void UpdateCollisionMaterials()
|
||||
{
|
||||
if (implementations != null)
|
||||
for (int i = 0; i < implementations.Count; ++i)
|
||||
{
|
||||
if (implementations[i].referenceCount > 0)
|
||||
{
|
||||
implementations[i].SetCollisionMaterials(collisionMaterials);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void UpdateRigidbodyVelocities(ObiSolver solver)
|
||||
{
|
||||
if (solver != null && solver.initialized)
|
||||
{
|
||||
int count = Mathf.Min(rigidbodyHandles.Count, solver.rigidbodyLinearDeltas.count);
|
||||
|
||||
for (int i = 0; i < count; ++i)
|
||||
rigidbodyHandles[i].owner.UpdateVelocities(solver.rigidbodyLinearDeltas[i], solver.rigidbodyAngularDeltas[i]);
|
||||
}
|
||||
|
||||
solver.rigidbodyLinearDeltas.WipeToZero();
|
||||
solver.rigidbodyAngularDeltas.WipeToZero();
|
||||
solver.rigidbodyLinearDeltas.Upload();
|
||||
solver.rigidbodyAngularDeltas.Upload();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user