修改水
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#include "ColliderDefinitions.cginc"
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#include "ContactHandling.cginc"
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#include "DistanceFunctions.cginc"
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#include "Simplex.cginc"
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#include "Bounds.cginc"
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#include "SolverParameters.cginc"
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#include "Optimization.cginc"
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#pragma kernel GenerateContacts
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StructuredBuffer<float4> positions;
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StructuredBuffer<quaternion> orientations;
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StructuredBuffer<float4> principalRadii;
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StructuredBuffer<float4> velocities;
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StructuredBuffer<int> simplices;
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StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.
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StructuredBuffer<transform> transforms;
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StructuredBuffer<shape> shapes;
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// edge mesh data:
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StructuredBuffer<EdgeMeshHeader> edgeMeshHeaders;
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StructuredBuffer<BIHNode> edgeBihNodes;
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StructuredBuffer<Edge> edges;
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StructuredBuffer<float2> edgeVertices;
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StructuredBuffer<uint2> contactPairs;
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StructuredBuffer<int> contactOffsetsPerType;
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RWStructuredBuffer<contact> contacts;
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RWStructuredBuffer<uint> dispatchBuffer;
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StructuredBuffer<transform> worldToSolver;
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uint maxContacts;
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float deltaTime;
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[numthreads(128, 1, 1)]
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void GenerateContacts (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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// entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
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if (i >= dispatchBuffer[11 + 4 * EDGE_MESH_SHAPE]) return;
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int firstPair = contactOffsetsPerType[EDGE_MESH_SHAPE];
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int simplexIndex = contactPairs[firstPair + i].x;
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int colliderIndex = contactPairs[firstPair + i].y;
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shape s = shapes[colliderIndex];
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if (s.dataIndex < 0) return;
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EdgeMeshHeader header = edgeMeshHeaders[s.dataIndex];
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EdgeMesh meshShape;
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meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
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meshShape.s = s;
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// invert a full matrix here to accurately represent collider bounds scale.
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float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
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aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
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float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
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int simplexSize;
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int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
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int stack[12];
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int stackTop = 0;
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stack[stackTop++] = 0;
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while (stackTop > 0)
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{
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// pop node index from the stack:
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int nodeIndex = stack[--stackTop];
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BIHNode node = edgeBihNodes[header.firstNode + nodeIndex];
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// leaf node:
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if (node.firstChild < 0)
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{
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// check for contact against all triangles:
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for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
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{
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Edge t = edges[header.firstEdge + dataOffset];
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float4 v1 = float4(edgeVertices[header.firstVertex + t.i1],0,0) + s.center;
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float4 v2 = float4(edgeVertices[header.firstVertex + t.i2],0,0) + s.center;
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aabb edgeBounds;
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edgeBounds.FromEdge(v1, v2, marginCS);
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if (edgeBounds.IntersectsAabb(simplexBound, s.is2D()))
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{
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float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
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float4 simplexPoint;
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meshShape.edge.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale);
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SurfacePoint surfacePoint = Optimize(meshShape, positions, orientations, principalRadii,
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simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
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float4 velocity = FLOAT4_ZERO;
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float simplexRadius = 0;
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for (int j = 0; j < simplexSize; ++j)
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{
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int particleIndex = simplices[simplexStart + j];
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simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
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velocity += velocities[particleIndex] * simplexBary[j];
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}
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float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
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float vel = dot(velocity, surfacePoint.normal);
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if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
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{
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uint count = contacts.IncrementCounter();
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if (count < maxContacts)
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{
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contact c = (contact)0;
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c.pointB = surfacePoint.pos;
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c.normal = surfacePoint.normal * meshShape.s.isInverted();
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c.pointA = simplexBary;
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c.bodyA = simplexIndex;
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c.bodyB = colliderIndex;
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contacts[count] = c;
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InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
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InterlockedMax(dispatchBuffer[3], count + 1);
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}
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}
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}
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}
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}
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else // check min and/or max children:
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{
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// visit min node:
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if (simplexBound.min_[node.axis] <= node.min_)
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stack[stackTop++] = node.firstChild;
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// visit max node:
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if (simplexBound.max_[node.axis] >= node.max_)
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stack[stackTop++] = node.firstChild + 1;
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}
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}
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}
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