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This commit is contained in:
BobSong
2026-01-01 22:00:33 +08:00
parent 040a222bd6
commit 9ceffccd39
1800 changed files with 103929 additions and 139495 deletions
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65
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
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@@ -30,7 +30,7 @@ namespace Obi
m_ConstraintCount = count;
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
{
var projectConstraints = new ChainConstraintsBatchJob()
@@ -88,14 +88,12 @@ namespace Obi
{
int numEdges = numIndices[c] - 1;
int first = firstIndex[c];
float minLength = restLengths[c].x;
float minLength = restLengths[c].y;
float maxLength = restLengths[c].y;
// (ni:constraint gradient, di:desired lenght)
NativeArray<float4> ni = new NativeArray<float4>(numEdges, Allocator.Temp);
// calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
NativeArray<float> di = new NativeArray<float>(numEdges, Allocator.Temp);
for (int i = 0; i < numEdges; ++i)
{
@@ -106,10 +104,20 @@ namespace Obi
float4 diff = p1 - p2;
float distance = math.length(diff);
float correction = 0;
if (distance >= maxLength)
correction = distance - maxLength;
else if (distance <= minLength)
correction = distance - minLength;
di[i] = correction;
ni[i] = new float4(diff/(distance + BurstMath.epsilon));
}
// calculate ai, bi and ci (superdiagonals):
// calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
for (int i = 0; i < numEdges; ++i)
{
int edge = first + i;
@@ -127,47 +135,34 @@ namespace Obi
-w__i * math.dot(n_i_, n__i));// ci
}
NativeArray<float2> sweep = new NativeArray<float2>(numEdges, Allocator.Temp);
// solve step #1, forward sweep:
// reuse diagonals.xy to store sweep results ci_ and di_:
for (int i = 0; i < numEdges; ++i)
{
int edge = first + i;
float4 p1 = positions[particleIndices[edge]];
float4 p2 = positions[particleIndices[edge + 1]];
float cip_ = (i > 0) ? diagonals[i - 1].x : 0;
float dip_ = (i > 0) ? diagonals[i - 1].y : 0;
float cip_ = (i > 0) ? sweep[i - 1].x : 0;
float dip_ = (i > 0) ? sweep[i - 1].y : 0;
float den = diagonals[i].y - cip_ * diagonals[i].x;
float3 d = diagonals[i];
if (math.abs(den) > BurstMath.epsilon)
if (den != 0)
{
float distance = math.distance(p1, p2);
float correction = 0;
if (distance >= maxLength)
correction = distance - maxLength;
else if (distance <= minLength)
correction = distance - minLength;
d.xy = new float2(d.z / den,
(correction - dip_ * d.x) / den);
sweep[i] = new float2((diagonals[i].z / den),
(di[i] - dip_ * diagonals[i].x) / den);
}
else
d.xy = float2.zero;
diagonals[i] = d;
sweep[i] = float2.zero;
}
// solve step #2, backward sweep. reuse diagonals.z to store solution xi:
// solve step #2, backward sweep:
NativeArray<float> xi = new NativeArray<float>(numEdges, Allocator.Temp);
for (int i = numEdges - 1; i >= 0; --i)
{
float xi_ = (i < numEdges - 1) ? diagonals[i + 1].z : 0;
int edge = first + i;
float3 d = diagonals[i];
d.z = d.y - d.x * xi_;
diagonals[i] = d;
float xi_ = (i < numEdges - 1) ? xi[i + 1] : 0;
xi[i] = sweep[i].y - sweep[i].x * xi_;
}
// calculate deltas:
@@ -178,11 +173,11 @@ namespace Obi
float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
float4 n_i_ = (i < numIndices[c] - 1) ? ni[i] : float4.zero;
float xi_ = (i > 0) ? diagonals[i - 1].z : 0;
float nxi = (i < numIndices[c] - 1) ? diagonals[i].z : 0;
float xi_ = (i > 0) ? xi[i - 1] : 0;
float nxi = (i < numIndices[c] - 1) ? xi[i] : 0;
int p = particleIndices[index];
deltas[p] += invMasses[p] * (ni__ * xi_ - n_i_ * nxi);
deltas[p] -= invMasses[p] * (-ni__ * xi_ + n_i_ * nxi);
counts[p]++;
}
}