修改水

Assets/Obi/Resources/Compute/DistanceFieldShape.compute

@@ -1,101 +0,0 @@
-#include "ColliderDefinitions.cginc"
-#include "ContactHandling.cginc"
-#include "DistanceFunctions.cginc"
-#include "Simplex.cginc"
-#include "Bounds.cginc"
-#include "SolverParameters.cginc"
-#include "Optimization.cginc"
-
-#pragma kernel GenerateContacts
-
-StructuredBuffer<float4> positions;
-StructuredBuffer<quaternion> orientations;
-StructuredBuffer<float4> principalRadii;
-StructuredBuffer<float4> velocities;
-
-StructuredBuffer<int> simplices;
-
-StructuredBuffer<transform> transforms;
-StructuredBuffer<shape> shapes;
-
-// distance field data:
-StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
-StructuredBuffer<DFNode> dfNodes;
-
-StructuredBuffer<uint2> contactPairs;
-StructuredBuffer<int> contactOffsetsPerType;
-
-RWStructuredBuffer<contact> contacts;
-RWStructuredBuffer<uint> dispatchBuffer;
-
-StructuredBuffer<transform> worldToSolver;
-
-uint maxContacts;
-float deltaTime;
-
-[numthreads(128, 1, 1)]
-void GenerateContacts (uint3 id : SV_DispatchThreadID) 
-{
-    uint i = id.x;
-
-    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
-    if (i >= dispatchBuffer[11 + 4 * SDF_SHAPE]) return; 
-
-    int firstPair = contactOffsetsPerType[SDF_SHAPE];
-    int simplexIndex = contactPairs[firstPair + i].x;
-    int colliderIndex = contactPairs[firstPair + i].y;
-    shape s = shapes[colliderIndex];
-
-    if (s.dataIndex < 0) return;
-    
-    DistanceField dfShape;
-    dfShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
-    dfShape.s = s;
-    dfShape.distanceFieldHeaders = distanceFieldHeaders;
-    dfShape.dfNodes = dfNodes;
-
-    int simplexSize;
-    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
-
-    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
-    float4 simplexPoint;
-
-    SurfacePoint colliderPoint = Optimize(dfShape, positions, orientations, principalRadii,
-                                          simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
-
-    float4 velocity = FLOAT4_ZERO;
-    float simplexRadius = 0;
-    for (int j = 0; j < simplexSize; ++j)
-    {
-        int particleIndex = simplices[simplexStart + j];
-        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
-        velocity += velocities[particleIndex] * simplexBary[j];
-    }
-
-    /*float4 rbVelocity = float4.zero;
-    if (rigidbodyIndex >= 0)
-        rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
-        
-    //float dAB = dot(simplexPoint - colliderPoint.pos, colliderPoint.normal);
-    //float vel = dot(velocity     /*- rbVelocity*/,    colliderPoint.normal);
-
-    //if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
-    {
-        uint count = contacts.IncrementCounter();
-        if (count < maxContacts)
-        {
-            contact c = (contact)0;
-           
-            c.pointB = colliderPoint.pos;
-            c.normal = colliderPoint.normal * dfShape.s.isInverted();
-            c.pointA = simplexBary;
-            c.bodyA = simplexIndex;
-            c.bodyB = colliderIndex;
-
-            contacts[count] = c;
-            
-            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
-            InterlockedMax(dispatchBuffer[3], count + 1);
-        }
-    }
-}