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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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452
Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig
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@@ -1,452 +0,0 @@
using UnityEngine;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Runtime.InteropServices;
namespace Obi
{
public class ObiResourceHandle<T> where T : class
{
public T owner = null; /**< reference to the owner instance*/
public int index = -1; /**< index of this resource in the collision world.*/
private int referenceCount = 0; /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
public bool isValid
{
get { return index >= 0; }
}
public void Invalidate()
{
index = -1;
referenceCount = 0;
}
public void Reference()
{
referenceCount++;
}
public bool Dereference()
{
return --referenceCount == 0;
}
public ObiResourceHandle(int index = -1)
{
this.index = index;
owner = null;
}
}
public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
{
public ObiColliderHandle(int index = -1) : base(index) { }
}
public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
{
public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
}
public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
{
public ObiRigidbodyHandle(int index = -1) : base(index) { }
}
[ExecuteInEditMode]
public class ObiColliderWorld
{
[NonSerialized] public List<IColliderWorldImpl> implementations;
[NonSerialized] public List<ObiColliderHandle> colliderHandles; // list of collider handles, used by ObiCollider components to retrieve them.
[NonSerialized] public ObiNativeColliderShapeList colliderShapes; // list of collider shapes.
[NonSerialized] public ObiNativeAabbList colliderAabbs; // list of collider bounds.
[NonSerialized] public ObiNativeAffineTransformList colliderTransforms; // list of collider transforms.
[NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
[NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
[NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles; // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
[NonSerialized] public ObiNativeRigidbodyList rigidbodies; // list of rigidbodies.
[NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
[NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
[NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
[NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
private static ObiColliderWorld instance;
public static ObiColliderWorld GetInstance()
{
if (instance == null)
{
instance = new ObiColliderWorld();
instance.Initialize();
}
return instance;
}
private void Initialize()
{
// Allocate all lists:
if (implementations == null)
implementations = new List<IColliderWorldImpl>();
if (colliderHandles == null)
colliderHandles = new List<ObiColliderHandle>();
if (colliderShapes == null)
colliderShapes = new ObiNativeColliderShapeList();
if (colliderAabbs == null)
colliderAabbs = new ObiNativeAabbList();
if (colliderTransforms == null)
colliderTransforms = new ObiNativeAffineTransformList();
if (materialHandles == null)
materialHandles = new List<ObiCollisionMaterialHandle>();
if (collisionMaterials == null)
collisionMaterials = new ObiNativeCollisionMaterialList();
if (rigidbodyHandles == null)
rigidbodyHandles = new List<ObiRigidbodyHandle>();
if (rigidbodies == null)
rigidbodies = new ObiNativeRigidbodyList();
if (triangleMeshContainer == null)
triangleMeshContainer = new ObiTriangleMeshContainer();
if (edgeMeshContainer == null)
edgeMeshContainer = new ObiEdgeMeshContainer();
if (distanceFieldContainer == null)
distanceFieldContainer = new ObiDistanceFieldContainer();
if (heightFieldContainer == null)
heightFieldContainer = new ObiHeightFieldContainer();
}
private void Destroy()
{
for (int i = 0; i < implementations.Count; ++i)
{
implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
implementations[i].UpdateWorld(0);
}
// Invalidate all handles:
if (colliderHandles != null)
foreach (var handle in colliderHandles)
handle.Invalidate();
if (rigidbodyHandles != null)
foreach (var handle in rigidbodyHandles)
handle.Invalidate();
if (materialHandles != null)
foreach (var handle in materialHandles)
handle.Invalidate();
// Dispose of all lists:
implementations = null;
colliderHandles = null;
rigidbodyHandles = null;
materialHandles = null;
if (colliderShapes != null)
colliderShapes.Dispose();
if (colliderAabbs != null)
colliderAabbs.Dispose();
if (colliderTransforms != null)
colliderTransforms.Dispose();
if (collisionMaterials != null)
collisionMaterials.Dispose();
if (rigidbodies != null)
rigidbodies.Dispose();
if (triangleMeshContainer != null)
triangleMeshContainer.Dispose();
if (edgeMeshContainer != null)
edgeMeshContainer.Dispose();
if (distanceFieldContainer != null)
distanceFieldContainer.Dispose();
if (heightFieldContainer != null)
heightFieldContainer.Dispose();
instance = null;
}
private void DestroyIfUnused()
{
// when there are no implementations and no colliders, the world gets destroyed.
if (colliderHandles.Count == 0 && rigidbodyHandles.Count == 0 && materialHandles.Count == 0 && implementations.Count == 0)
Destroy();
}
public void RegisterImplementation(IColliderWorldImpl impl)
{
if (!implementations.Contains(impl))
implementations.Add(impl);
}
public void UnregisterImplementation(IColliderWorldImpl impl)
{
implementations.Remove(impl);
DestroyIfUnused();
}
public ObiColliderHandle CreateCollider()
{
var handle = new ObiColliderHandle(colliderHandles.Count);
colliderHandles.Add(handle);
colliderShapes.Add(new ColliderShape());
colliderAabbs.Add(new Aabb());
colliderTransforms.Add(new AffineTransform());
return handle;
}
public ObiRigidbodyHandle CreateRigidbody()
{
var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
rigidbodyHandles.Add(handle);
rigidbodies.Add(new ColliderRigidbody());
return handle;
}
public ObiCollisionMaterialHandle CreateCollisionMaterial()
{
var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
materialHandles.Add(handle);
collisionMaterials.Add(new CollisionMaterial());
return handle;
}
public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
{
return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
}
public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
{
triangleMeshContainer.DestroyTriangleMesh(meshHandle);
}
public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
{
return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
}
public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
{
edgeMeshContainer.DestroyEdgeMesh(meshHandle);
}
public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
{
return distanceFieldContainer.GetOrCreateDistanceField(df);
}
public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
{
distanceFieldContainer.DestroyDistanceField(dfHandle);
}
public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
{
return heightFieldContainer.GetOrCreateHeightField(hf);
}
public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
{
heightFieldContainer.DestroyHeightField(hfHandle);
}
public void DestroyCollider(ObiColliderHandle handle)
{
if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
{
int index = handle.index;
int lastIndex = colliderHandles.Count - 1;
// swap all collider info:
colliderHandles.Swap(index, lastIndex);
colliderShapes.Swap(index, lastIndex);
colliderAabbs.Swap(index, lastIndex);
colliderTransforms.Swap(index, lastIndex);
// update the index of the handle we swapped with:
colliderHandles[index].index = index;
// invalidate our handle:
// (after updating the swapped one!
// in case there's just one handle in the array,
// we need to write -1 after 0)
handle.Invalidate();
// remove last index:
colliderHandles.RemoveAt(lastIndex);
colliderShapes.count--;
colliderAabbs.count--;
colliderTransforms.count--;
DestroyIfUnused();
}
}
public void DestroyRigidbody(ObiRigidbodyHandle handle)
{
if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
{
int index = handle.index;
int lastIndex = rigidbodyHandles.Count - 1;
// swap all collider info:
rigidbodyHandles.Swap(index, lastIndex);
rigidbodies.Swap(index, lastIndex);
// update the index of the handle we swapped with:
rigidbodyHandles[index].index = index;
// invalidate our handle:
// (after updating the swapped one!
// in case there's just one handle in the array,
// we need to write -1 after 0)
handle.Invalidate();
// remove last index:
rigidbodyHandles.RemoveAt(lastIndex);
rigidbodies.count--;
DestroyIfUnused();
}
}
public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
{
if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
{
int index = handle.index;
int lastIndex = materialHandles.Count - 1;
// swap all collider info:
materialHandles.Swap(index, lastIndex);
collisionMaterials.Swap(index, lastIndex);
// update the index of the handle we swapped with:
materialHandles[index].index = index;
// invalidate our handle:
// (after updating the swapped one!
// in case there's just one handle in the array,
// we need to write -1 after 0)
handle.Invalidate();
// remove last index:
materialHandles.RemoveAt(lastIndex);
collisionMaterials.count--;
DestroyIfUnused();
}
}
public void UpdateColliders()
{
// update all colliders:
for (int i = 0; i < colliderHandles.Count; ++i)
colliderHandles[i].owner.UpdateIfNeeded();
<<<<<<< HEAD
=======
for (int i = 0; i < implementations.Count; ++i)
{
if (implementations[i].referenceCount > 0)
{
// set arrays:
implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
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:
implementations[i].UpdateWorld();
}
}
>>>>>>> 56Hotfix
}
public void UpdateRigidbodies(List<ObiSolver> solvers, float stepTime)
{
// reset all solver's delta buffers to zero:
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
solver.EnsureRigidbodyArraysCapacity(rigidbodyHandles.Count);
solver.rigidbodyLinearDeltas.WipeToZero();
solver.rigidbodyAngularDeltas.WipeToZero();
}
}
for (int i = 0; i < rigidbodyHandles.Count; ++i)
rigidbodyHandles[i].owner.UpdateIfNeeded(stepTime);
}
public void UpdateWorld(float deltaTime)
{
for (int i = 0; i < implementations.Count; ++i)
{
// set arrays:
implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
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:
implementations[i].UpdateWorld(deltaTime);
}
}
public void UpdateRigidbodyVelocities(List<ObiSolver> solvers)
{
int count = 0;
foreach (ObiSolver solver in solvers)
if (solver != null) count++;
if (count > 0)
{
// we want to average the deltas applied by all solvers, so calculate 1/solverCount.
float rcpCount = 1.0f / count;
for (int i = 0; i < rigidbodyHandles.Count; ++i)
{
Vector4 linearDelta = Vector4.zero;
Vector4 angularDelta = Vector4.zero;
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
}
}
// update rigidbody velocities
rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
}
}
}
}
}