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去掉obi，使用自写绳索

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This commit is contained in:
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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68
Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
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using UnityEngine;
using System.Collections;
namespace Obi
{
public struct ColliderRigidbody
{
public Matrix4x4 inverseInertiaTensor;
public Vector4 velocity;
public Vector4 angularVelocity;
public Vector4 com;
public float inverseMass;
public int constraintCount;
private int pad1;
private int pad2;
public void FromRigidbody(ObiRigidbody rb)
{
bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
//rotation = source.rotation;
velocity = rb.kinematicForParticles ? Vector3.zero : rb.linearVelocity + (rb.unityRigidbody.useGravity ? Physics.gravity * Time.fixedDeltaTime : Vector3.zero);
angularVelocity = rb.kinematicForParticles ? Vector3.zero : rb.angularVelocity;
// center of mass in unity is affected by local rotation and position, but not scale. We need it expressed in world space:
com = rb.unityRigidbody.position + rb.unityRigidbody.rotation * rb.unityRigidbody.centerOfMass;
Vector3 invTensor = new Vector3((rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationX) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.x,
(rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationY) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.y,
(rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationZ) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.z);
// the inertia tensor is a diagonal matrix (Vector3) because it is expressed in the space generated by the principal axes of rotation (inertiaTensorRotation).
Vector3 inertiaTensor = kinematic ? Vector3.zero : invTensor;
// calculate full world space inertia matrix:
Matrix4x4 rotation = Matrix4x4.Rotate(rb.unityRigidbody.rotation * rb.unityRigidbody.inertiaTensorRotation);
inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
}
public void FromRigidbody(ObiRigidbody2D rb)
{
bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
velocity = rb.linearVelocity;
// For some weird reason, in 2D angular velocity is measured in *degrees* per second,
// instead of radians. Seriously Unity, WTF??
angularVelocity = new Vector4(0, 0, rb.angularVelocity * Mathf.Deg2Rad, 0);
// center of mass in unity is affected by local rotation and poistion, but not scale. We need it expressed in world space:
com = rb.transform.position + rb.transform.rotation * rb.unityRigidbody.centerOfMass;
Vector3 inertiaTensor = kinematic ? Vector3.zero : new Vector3(0, 0, (rb.unityRigidbody.constraints & RigidbodyConstraints2D.FreezeRotation) != 0 ? 0 : 1 / rb.unityRigidbody.inertia);
Matrix4x4 rotation = Matrix4x4.Rotate(Quaternion.AngleAxis(rb.rotation, Vector3.forward));
inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
}
}
}