修改水

Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs

@@ -1,22 +1,21 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using Unity.Burst;
 using Unity.Collections;
-using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction
+    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction, IBurstCollider
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
+        public float dt;
 
         public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
         {
             float4 center = shape.center * colliderToSolver.scale;
             point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
 
-            if (shape.is2D)
+            if (shape.is2D != 0)
                 point[2] = 0;
 
             int direction = (int)shape.size.z;
@@ -37,100 +36,38 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public static JobHandle GenerateContacts(ObiColliderWorld world,
-                                                BurstSolverImpl solver,
-                                                NativeList<Oni.ContactPair> contactPairs,
-                                                NativeQueue<BurstContact> contactQueue,
-                                                NativeArray<int> contactOffsetsPerType,
-                                                float deltaTime,
-                                                JobHandle inputDeps)
+        public void Contacts(int colliderIndex,
+                             int rigidbodyIndex,
+                             NativeArray<BurstRigidbody> rigidbodies,
+
+                              NativeArray<float4> positions,
+                              NativeArray<quaternion> orientations,
+                              NativeArray<float4> velocities,
+                              NativeArray<float4> radii,
+
+                              NativeArray<int> simplices,
+                              in BurstAabb simplexBounds,
+                              int simplexIndex,
+                              int simplexStart,
+                              int simplexSize,
+
+                              NativeQueue<BurstContact>.ParallelWriter contacts,
+                              int optimizationIterations,
+                              float optimizationTolerance)
         {
-            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Capsule + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Capsule];
-            if (pairCount == 0) return inputDeps;
-
-            var job = new GenerateCapsuleContactsJob
-            {
-                contactPairs = contactPairs,
-
-                positions = solver.positions,
-                orientations = solver.orientations,
-                velocities = solver.velocities,
-                invMasses = solver.invMasses,
-                radii = solver.principalRadii,
-
-                simplices = solver.simplices,
-                simplexCounts = solver.simplexCounts,
-
-                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
-                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
-
-                contactsQueue = contactQueue.AsParallelWriter(),
-
-                worldToSolver = solver.worldToSolver,
-                deltaTime = deltaTime,
-                parameters = solver.abstraction.parameters,
-                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Capsule]
-            };
-
-            inputDeps = job.Schedule(pairCount, 8, inputDeps);
-            return inputDeps;
-        }
-    }
-
-    [BurstCompile]
-    struct GenerateCapsuleContactsJob : IJobParallelFor
-    {
-        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
-
-        // particle arrays:
-        [ReadOnly] public NativeArray<float4> velocities;
-        [ReadOnly] public NativeArray<float4> positions;
-        [ReadOnly] public NativeArray<quaternion> orientations;
-        [ReadOnly] public NativeArray<float> invMasses;
-        [ReadOnly] public NativeArray<float4> radii;
-
-        // simplex arrays:
-        [ReadOnly] public NativeArray<int> simplices;
-        [ReadOnly] public SimplexCounts simplexCounts;
-
-        // collider arrays:
-        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
-        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
-
-        [WriteOnly]
-        [NativeDisableParallelForRestriction]
-        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
-
-        // auxiliar data:
-        [ReadOnly] public int firstPair;
-        [ReadOnly] public BurstAffineTransform worldToSolver;
-        [ReadOnly] public float deltaTime;
-        [ReadOnly] public Oni.SolverParameters parameters;
-
-        public void Execute(int i)
-        {
-            int simplexIndex = contactPairs[firstPair + i].bodyA;
-            int colliderIndex = contactPairs[firstPair + i].bodyB;
-
-            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
-
-            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
-
-            BurstCapsule shape = new BurstCapsule { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
-
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
-            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
-            contactsQueue.Enqueue(new BurstContact
-            {
-                bodyA = simplexIndex,
-                bodyB = colliderIndex,
-                pointA = simplexBary,
-                pointB = colliderPoint.point,
-                normal = colliderPoint.normal * shape.shape.sign
-            });
+            var colliderPoint = BurstLocalOptimization.Optimize<BurstCapsule>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                              ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            co.pointB = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.pointA = simplexBary;
+
+            contacts.Enqueue(co);
         }
     }
+
 }
 #endif