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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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14
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
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@@ -24,16 +24,16 @@ namespace Obi
this.max = max;
}
public BurstAabb(float4 v1, float4 v2, float4 v3, float4 margin)
public BurstAabb(float4 v1, float4 v2, float4 v3, float margin)
{
min = math.min(math.min(v1, v2), v3) - margin;
max = math.max(math.max(v1, v2), v3) + margin;
min = math.min(math.min(v1, v2), v3) - new float4(margin, margin, margin, 0);
max = math.max(math.max(v1, v2), v3) + new float4(margin, margin, margin, 0);
}
public BurstAabb(float4 v1, float4 v2, float4 margin)
public BurstAabb(float2 v1, float2 v2, float margin)
{
min = math.min(v1, v2) - margin;
max = math.max(v1, v2) + margin;
min = new float4(math.min(v1, v2) - new float2(margin, margin),0,0);
max = new float4(math.max(v1, v2) + new float2(margin, margin),0,0);
}
public BurstAabb(float4 previousPosition, float4 position, float radius)
@@ -50,7 +50,7 @@ namespace Obi
public float MaxAxisLength()
{
return math.cmax((max - min).xyz);
return math.cmax(max - min);
}
public void EncapsulateParticle(float4 position, float radius)

7
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
View File

@@ -36,13 +36,6 @@ namespace Obi
1 / scale);
}
public BurstAffineTransform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
{
return new BurstAffineTransform(BurstIntegration.IntegrateLinear(translation, linearVelocity, dt),
BurstIntegration.IntegrateAngular(rotation, angularVelocity, dt),
scale);
}
public BurstAffineTransform Interpolate(BurstAffineTransform other, float translationalMu, float rotationalMu, float scaleMu)
{
return new BurstAffineTransform(math.lerp(translation, other.translation, translationalMu),

24
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
View File

@@ -25,7 +25,7 @@ namespace Obi
switch (frictionCombineMode)
{
default: // average
case Oni.MaterialCombineMode.Average:
result.dynamicFriction = (a.dynamicFriction + b.dynamicFriction) * 0.5f;
result.staticFriction = (a.staticFriction + b.staticFriction) * 0.5f;
result.rollingFriction = (a.rollingFriction + b.rollingFriction) * 0.5f;
@@ -37,22 +37,22 @@ namespace Obi
result.rollingFriction = math.min(a.rollingFriction, b.rollingFriction);
break;
case Oni.MaterialCombineMode.Multiply:
result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
result.staticFriction = a.staticFriction * b.staticFriction;
result.rollingFriction = a.rollingFriction * b.rollingFriction;
break;
case Oni.MaterialCombineMode.Maximum:
result.dynamicFriction = math.max(a.dynamicFriction, b.dynamicFriction);
result.staticFriction = math.max(a.staticFriction, b.staticFriction);
result.rollingFriction = math.max(a.rollingFriction, b.rollingFriction);
break;
case Oni.MaterialCombineMode.Multiply:
result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
result.staticFriction = a.staticFriction * b.staticFriction;
result.rollingFriction = a.rollingFriction * b.rollingFriction;
break;
}
switch (stickCombineMode)
{
default: // average
case Oni.MaterialCombineMode.Average:
result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
break;
@@ -60,13 +60,13 @@ namespace Obi
result.stickiness = math.min(a.stickiness, b.stickiness);
break;
case Oni.MaterialCombineMode.Multiply:
result.stickiness = a.stickiness * b.stickiness;
break;
case Oni.MaterialCombineMode.Maximum:
result.stickiness = math.max(a.stickiness, b.stickiness);
break;
case Oni.MaterialCombineMode.Multiply:
result.stickiness = a.stickiness * b.stickiness;
break;
}
result.stickDistance = math.max(a.stickDistance, b.stickDistance);

5
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
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@@ -38,11 +38,6 @@ namespace Obi
angularAcceleration = float4.zero;
}
public float4 VelocityAtPoint(float4 point)
{
return velocity + new float4(math.cross(angularVelocity.xyz, (point - prevFrame.translation).xyz), 0);
}
public void Update(float4 position, float4 scale, quaternion rotation, float dt)
{
prevFrame = frame;

128
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs
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@@ -1,128 +0,0 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using System.Collections.Generic;
using Unity.Burst;
using Unity.Collections;
using Unity.Collections.LowLevel.Unsafe;
using Unity.Jobs;
using Unity.Mathematics;
namespace Obi
{
public class BurstPrefixSum
{
private int inputSize;
private const int numBlocks = 8;
private NativeArray<int> blockSums;
public BurstPrefixSum(int inputSize)
{
this.inputSize = inputSize;
blockSums = new NativeArray<int>(numBlocks, Allocator.Persistent);
}
public void Dispose()
{
if (blockSums.IsCreated)
blockSums.Dispose();
}
public unsafe JobHandle Sum(NativeArray<int> input, NativeArray<int> result, int* count, JobHandle inputDeps)
{
// calculate partial prefix sums, one per block:
var job = new BlockSumJob
{
input = input,
output = result,
blocks = blockSums,
count = count
};
inputDeps = job.Schedule(numBlocks, 1, inputDeps);
var job3 = new BlockSum
{
blocks = blockSums
};
inputDeps = job3.Schedule(inputDeps);
// add the scanned partial block sums to the result:
var job2 = new PrefixSumJob
{
prefixBlocks = blockSums,
output = result,
count = count
};
return job2.Schedule(numBlocks, 1, inputDeps);
}
[BurstCompile]
unsafe struct BlockSumJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> input;
[NativeDisableParallelForRestriction] public NativeArray<int> output;
public NativeArray<int> blocks;
[ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
public void Execute(int block)
{
int length = *count + 1; // add 1 to get total sum in last element+1
int blockSize = (int)math.ceil(length / (float)numBlocks);
int start = block * blockSize;
int end = math.min(start + blockSize, length);
output[start] = 0;
if (blockSize == 0) { blocks[block] = 0; return; }
for (int i = start + 1; i < end; ++i)
output[i] = output[i - 1] + input[i - 1];
blocks[block] = output[end - 1] + input[end - 1];
}
}
[BurstCompile]
struct BlockSum : IJob
{
public NativeArray<int> blocks;
public void Execute()
{
int aux = blocks[0];
blocks[0] = 0;
for (int i = 1; i < blocks.Length; ++i)
{
int a = blocks[i];
blocks[i] = blocks[i - 1] + aux;
aux = a;
}
}
}
[BurstCompile]
unsafe struct PrefixSumJob : IJobParallelFor
{
[ReadOnly] public NativeArray<int> prefixBlocks;
[NativeDisableParallelForRestriction] public NativeArray<int> output;
[ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
public void Execute(int block)
{
int length = *count + 1; // add 1 to get total sum in last element+1
int blockSize = (int)math.ceil(length / (float)numBlocks);
int start = block * blockSize;
int end = math.min(start + blockSize, length);
for (int i = start; i < end; ++i)
output[i] += prefixBlocks[block];
}
}
}
}
#endif

11
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta
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@@ -1,11 +0,0 @@
fileFormatVersion: 2
guid: 7fa11563c202445279d5e04b0eb1631b
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

2
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
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@@ -9,7 +9,7 @@ namespace Obi
public float4 size;
public QueryShape.QueryType type;
public float contactOffset;
public float maxDistance;
public float distance;
public int filter;
}
}

2
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
View File

@@ -15,7 +15,7 @@ namespace Obi
public float4 com;
public float inverseMass;
public int constraintCount;
private int pad0;
private int pad1;
private int pad2;
}

2
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
View File

@@ -1,4 +1,4 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using System;
using Unity.Collections;
using Unity.Mathematics;

14
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
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@@ -1,4 +1,4 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using System;
using System.Collections.Generic;
using Unity.Collections;
@@ -9,7 +9,7 @@ using Unity.Jobs;
namespace Obi
{
public class ConstraintSorter<T> where T : unmanaged, IConstraint
public class ConstraintSorter<T> where T : unmanaged, IConstraint
{
public struct ConstraintComparer<K> : IComparer<K> where K : IConstraint
@@ -28,7 +28,7 @@ namespace Obi
public JobHandle SortConstraints(int particleCount,
NativeArray<T> constraints,
ref NativeArray<T> sortedConstraints,
JobHandle handle)
JobHandle handle)
{
// Count the amount of digits in the largest particle index that can be referenced by a constraint:
NativeArray<int> totalCountUpToDigit = new NativeArray<int>(particleCount + 1, Allocator.TempJob);
@@ -59,16 +59,16 @@ namespace Obi
{
InOutArray = sortedConstraints,
NextElementIndex = totalCountUpToDigit,
comparer = new ConstraintComparer<T>()
comparer = new ConstraintComparer<T>()
}.Schedule(totalCountUpToDigit.Length, numPerBatch, handle);
return handle;
}
[BurstCompile]
public struct CountSortPerFirstParticleJob : IJob
public struct CountSortPerFirstParticleJob : IJob
{
[ReadOnly][NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
[ReadOnly] [NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
public NativeArray<T> output;
[NativeDisableContainerSafetyRestriction] public NativeArray<int> digitCount;
@@ -117,7 +117,7 @@ namespace Obi
[NativeDisableContainerSafetyRestriction] public NativeArray<T> InOutArray;
// Typically lastDigitIndex is resulting RadixSortPerBodyAJob.digitCount. nextElementIndex[i] = index of first element with bodyA index == i + 1
[NativeDisableContainerSafetyRestriction][DeallocateOnJobCompletion] public NativeArray<int> NextElementIndex;
[NativeDisableContainerSafetyRestriction] [DeallocateOnJobCompletion] public NativeArray<int> NextElementIndex;
[ReadOnly] public ConstraintComparer<T> comparer;

11
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
View File

@@ -1,10 +1,9 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
namespace Obi
using System;
public interface IConstraint
{
public interface IConstraint
{
int GetParticleCount();
int GetParticle(int index);
}
int GetParticleCount();
int GetParticle(int index);
}
#endif

156
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
View File

@@ -1,76 +1,118 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using Unity.Mathematics;
namespace Obi
public struct GridHash
{
public struct GridHash
public readonly static int3[] cellOffsets3D =
{
public readonly static int3[] cellOffsets3D =
{
new int3(1,0,0),
new int3(0,1,0),
new int3(1,1,0),
new int3(0,0,1),
new int3(1,0,1),
new int3(0,1,1),
new int3(1,1,1),
new int3(-1,1,0),
new int3(-1,-1,1),
new int3(0,-1,1),
new int3(1,-1,1),
new int3(-1,0,1),
new int3(-1,1,1)
};
new int3(1,0,0),
new int3(0,1,0),
new int3(1,1,0),
new int3(0,0,1),
new int3(1,0,1),
new int3(0,1,1),
new int3(1,1,1),
new int3(-1,1,0),
new int3(-1,-1,1),
new int3(0,-1,1),
new int3(1,-1,1),
new int3(-1,0,1),
new int3(-1,1,1)
};
public readonly static int3[] cellOffsets =
{
new int3(0, 0, 0),
new int3(-1, 0, 0),
new int3(0, -1, 0),
new int3(0, 0, -1),
new int3(1, 0, 0),
new int3(0, 1, 0),
new int3(0, 0, 1)
};
public readonly static int3[] cellOffsets =
{
new int3(0, 0, 0),
new int3(-1, 0, 0),
new int3(0, -1, 0),
new int3(0, 0, -1),
new int3(1, 0, 0),
new int3(0, 1, 0),
new int3(0, 0, 1)
};
public readonly static int2[] cell2DOffsets =
{
new int2(0, 0),
new int2(-1, 0),
new int2(0, -1),
new int2(1, 0),
new int2(0, 1),
};
public readonly static int2[] cell2DOffsets =
{
new int2(0, 0),
new int2(-1, 0),
new int2(0, -1),
new int2(1, 0),
new int2(0, 1),
};
public static int3 Quantize(float3 v, float cellSize)
public static int Hash(float3 v, float cellSize)
{
return Hash(Quantize(v, cellSize));
}
public static int3 Quantize(float3 v, float cellSize)
{
return new int3(math.floor(v / cellSize));
}
public static int Hash(float2 v, float cellSize)
{
return Hash(Quantize(v, cellSize));
}
public static int2 Quantize(float2 v, float cellSize)
{
return new int2(math.floor(v / cellSize));
}
public static int Hash(int3 grid)
{
unchecked
{
return new int3(math.floor(v / cellSize));
// Simple int3 hash based on a pseudo mix of :
// 1) https://en.wikipedia.org/wiki/Fowler%E2%80%93Noll%E2%80%93Vo_hash_function
// 2) https://en.wikipedia.org/wiki/Jenkins_hash_function
int hash = grid.x;
hash = (hash * 397) ^ grid.y;
hash = (hash * 397) ^ grid.z;
hash += hash << 3;
hash ^= hash >> 11;
hash += hash << 15;
return hash;
}
}
public static int2 Quantize(float2 v, float cellSize)
public static int Hash(int2 grid)
{
unchecked
{
return new int2(math.floor(v / cellSize));
// Simple int3 hash based on a pseudo mix of :
// 1) https://en.wikipedia.org/wiki/Fowler%E2%80%93Noll%E2%80%93Vo_hash_function
// 2) https://en.wikipedia.org/wiki/Jenkins_hash_function
int hash = grid.x;
hash = (hash * 397) ^ grid.y;
hash += hash << 3;
hash ^= hash >> 11;
hash += hash << 15;
return hash;
}
}
public static int Hash(in int4 cellIndex, int maxCells)
{
const int p1 = 73856093;
const int p2 = 19349663;
const int p3 = 83492791;
const int p4 = 10380569;
return math.abs(p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z ^ p4 * cellIndex.w) % maxCells;
}
public static ulong Hash(ulong hash, ulong key)
{
const ulong m = 0xc6a4a7935bd1e995UL;
const int r = 47;
public static int Hash(in int3 cellIndex, int maxCells)
{
const int p1 = 73856093;
const int p2 = 19349663;
const int p3 = 83492791;
return ((p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z) & 0x7fffffff) % maxCells;
ulong h = hash;
ulong k = key;
/*var index = cellIndex - new int3(-32, -32, -32);
return index.x + index.y * 64 + index.z * 64 * 64;*/
}
k *= m;
k ^= k >> r;
k *= m;
h ^= k;
h *= m;
h ^= h >> r;
h *= m;
h ^= h >> r;
return h;
}
}
#endif

30
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
View File

@@ -23,9 +23,7 @@ namespace Obi
public unsafe struct NativeMultilevelGrid<T> : IDisposable where T : unmanaged, IEquatable<T>
{
public const float minSize = 0.01f; // minimum cell size is 1 centimeter, enough for very small particles.
public const int minLevel = -6; // grid level for minSize.
public const int maxLevel = 17;
public const float minSize = 0.01f;
/**
* A cell in the multilevel grid. Coords are 4-dimensional, the 4th component is the grid level.
@@ -60,7 +58,7 @@ namespace Obi
{
get
{
return contents.ElementAt(index);
return UnsafeUtility.ReadArrayElement<K>(contents.Ptr, index);
}
}
@@ -71,7 +69,11 @@ namespace Obi
public bool Remove(K entity)
{
int index = contents.IndexOf(entity);
//int index = contents.IndexOf(entity);
int index = -1;
for (int i = 0; i < contents.Length; ++i)
if (contents[i].Equals(entity)) { index = i; break; }
if (index >= 0)
{
contents.RemoveAtSwapBack(index);
@@ -86,15 +88,15 @@ namespace Obi
}
}
public NativeParallelHashMap<int4, int> grid;
public NativeHashMap<int4, int> grid;
public NativeList<Cell<T>> usedCells;
public NativeParallelHashMap<int, int> populatedLevels;
public NativeHashMap<int, int> populatedLevels;
public NativeMultilevelGrid(int capacity, Allocator label)
{
grid = new NativeParallelHashMap<int4, int>(capacity, label);
grid = new NativeHashMap<int4, int>(capacity, label);
usedCells = new NativeList<Cell<T>>(label);
populatedLevels = new NativeParallelHashMap<int, int>(10, label);
populatedLevels = new NativeHashMap<int, int>(10, label);
}
public int CellCount
@@ -170,16 +172,14 @@ namespace Obi
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static int GridLevelForSize(float size)
{
// the magic number is 1/log(2), used because log_a(x) = log_b(x) / log_b(a)
// level is clamped between MIN_LEVEL and MAX_LEVEL, then remapped to (0, MAX_LEVEL - MIN_LEVEL)
// this allows us to avoid InterlockedMax issues on GPU, since it doesn't work on negative numbers on some APIs.
return math.clamp((int)math.ceil(math.log(size) * 1.44269504089f), minLevel, maxLevel) - minLevel;
// the magic number is 1/log(2)
return (int)math.ceil(math.log(math.max(size,minSize)) * 1.44269504089f);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float CellSizeOfLevel(int level)
{
return math.exp2(level + minLevel);
return math.exp2(level);
}
/**
@@ -187,7 +187,7 @@ namespace Obi
*/
public static int4 GetParentCellCoords(int4 cellCoords, int level)
{
float decimation = math.exp2(level - cellCoords[3]);
float decimation = CellSizeOfLevel(level - cellCoords[3]);
int4 cell = (int4)math.floor((float4)cellCoords / decimation);
cell[3] = level;
return cell;

236
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
View File

@@ -4,7 +4,6 @@ using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
using Unity.Burst;
using UnityEngine;
namespace Obi
{
@@ -21,14 +20,34 @@ namespace Obi
public NativeQueue<BurstContact> particleContactQueue;
public NativeQueue<FluidInteraction> fluidInteractionQueue;
[BurstCompile]
struct CalculateCellCoords : IJobParallelFor
{
[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
public NativeArray<int4> cellCoords;
[ReadOnly] public bool is2D;
public void Execute(int i)
{
int level = NativeMultilevelGrid<int>.GridLevelForSize(simplexBounds[i].AverageAxisLength());
float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
// get new particle cell coordinate:
int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
// if the solver is 2D, project the particle to the z = 0 cell.
if (is2D) newCellCoord[2] = 0;
cellCoords[i] = newCellCoord;
}
}
[BurstCompile]
struct UpdateGrid : IJob
{
public NativeMultilevelGrid<int> grid;
[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
public NativeArray<int4> cellCoords;
[ReadOnly] public Oni.SolverParameters parameters;
[ReadOnly] public NativeArray<int4> cellCoords;
[ReadOnly] public int simplexCount;
public void Execute()
@@ -37,17 +56,6 @@ namespace Obi
for (int i = 0; i < simplexCount; ++i)
{
int level = NativeMultilevelGrid<int>.GridLevelForSize(simplexBounds[i].MaxAxisLength());
float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
// get new cell coordinate:
int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
// if the solver is 2D, project to the z = 0 cell.
if (parameters.mode == Oni.SolverParameters.Mode.Mode2D) newCellCoord[2] = 0;
cellCoords[i] = newCellCoord;
// add to new cell:
int cellIndex = grid.GetOrCreateCell(cellCoords[i]);
var newCell = grid.usedCells[cellIndex];
@@ -61,7 +69,6 @@ namespace Obi
public struct GenerateParticleParticleContactsJob : IJobParallelFor
{
[ReadOnly] public NativeMultilevelGrid<int> grid;
[DeallocateOnJobCompletion]
[ReadOnly] public NativeArray<int> gridLevels;
@@ -73,13 +80,14 @@ namespace Obi
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public NativeArray<float4> radii;
[ReadOnly] public NativeArray<float4> normals;
[ReadOnly] public NativeArray<float4> fluidMaterials;
[ReadOnly] public NativeArray<float> fluidRadii;
[ReadOnly] public NativeArray<int> phases;
[ReadOnly] public NativeArray<int> filters;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
[ReadOnly] public NativeArray<int> particleMaterialIndices;
[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
@@ -157,7 +165,7 @@ namespace Obi
}
// neighboring cells in levels above the current one:
int levelIndex = gridLevels.IndexOf<int, int>(cellCoords.w);
int levelIndex = gridLevels.IndexOf<int,int>(cellCoords.w);
if (levelIndex >= 0)
{
levelIndex++;
@@ -194,10 +202,10 @@ namespace Obi
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
group = math.max(group, ObiUtils.GetGroupFromPhase(phases[particleIndex]));
flags |= ObiUtils.GetFlagsFromPhase(phases[particleIndex]);
category |= filters[particleIndex] & ObiUtils.FilterCategoryBitmask;
mask |= (filters[particleIndex] & ObiUtils.FilterMaskBitmask) >> 16;
group = math.max(group, ObiUtils.GetGroupFromPhase(phases[particleIndex]));
restPositionsEnabled |= restPositions[particleIndex].w > 0.5f;
}
@@ -206,6 +214,10 @@ namespace Obi
private void InteractionTest(int A, int B, ref BurstSimplex simplexShape)
{
// skip the pair if their bounds don't intersect:
if (!simplexBounds[A].IntersectsAabb(simplexBounds[B]))
return;
// get the start index and size of each simplex:
int simplexStartA = simplexCounts.GetSimplexStartAndSize(A, out int simplexSizeA);
int simplexStartB = simplexCounts.GetSimplexStartAndSize(B, out int simplexSizeB);
@@ -235,14 +247,17 @@ namespace Obi
// if all simplices are fluid, check their smoothing radii:
if ((flagsA & ObiUtils.ParticleFlags.Fluid) != 0 && (flagsB & ObiUtils.ParticleFlags.Fluid) != 0)
{
// for fluid we only consider the first particle in each simplex.
int particleA = simplices[simplexStartA];
int particleB = simplices[simplexStartB];
// Calculate particle center distance:
float d2 = math.lengthsq(positions[particleA].xyz - positions[particleB].xyz);
// for fluid we only consider the first particle in each simplex.
float4 predictedPositionA = positions[particleA] + velocities[particleA] * dt;
float4 predictedPositionB = positions[particleB] + velocities[particleB] * dt;
float fluidDistance = math.max(fluidMaterials[particleA].x, fluidMaterials[particleB].x) + collisionMargin;
// Calculate particle center distance:
float d2 = math.lengthsq(predictedPositionA - predictedPositionB);
float fluidDistance = math.max(fluidRadii[particleA], fluidRadii[particleB]);
if (d2 <= fluidDistance * fluidDistance)
{
fluidInteractionsQueue.Enqueue(new FluidInteraction { particleA = particleA, particleB = particleB });
@@ -284,7 +299,7 @@ namespace Obi
// compare distance along contact normal with radius.
if (math.dot(simplexPoint - restPoint.point, restPoint.normal) < simplexRadiusA + simplexRadiusB)
return;
return;
}
simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
@@ -295,16 +310,13 @@ namespace Obi
simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, optimizationIterations, optimizationTolerance);
simplexRadiusA = 0; simplexRadiusB = 0;
float4 velocityA = float4.zero, velocityB = float4.zero, normalA = float4.zero, normalB = float4.zero;
float invMassA = 0, invMassB = 0;
float4 velocityA = float4.zero, velocityB = float4.zero, normalB = float4.zero;
for (int j = 0; j < simplexSizeA; ++j)
{
int particleIndex = simplices[simplexStartA + j];
simplexRadiusA += radii[particleIndex].x * simplexBary[j];
velocityA += velocities[particleIndex] * simplexBary[j];
normalA += (normals[particleIndex].w < 0 ? new float4(math.rotate(orientations[particleIndex],normals[particleIndex].xyz), normals[particleIndex].w) : normals[particleIndex]) * simplexBary[j];
invMassA += invMasses[particleIndex] * simplexBary[j];
}
for (int j = 0; j < simplexSizeB; ++j)
@@ -312,53 +324,111 @@ namespace Obi
int particleIndex = simplices[simplexStartB + j];
simplexRadiusB += radii[particleIndex].x * surfacePoint.bary[j];
velocityB += velocities[particleIndex] * surfacePoint.bary[j];
normalB += (normals[particleIndex].w < 0 ? new float4(math.rotate(orientations[particleIndex], normals[particleIndex].xyz), normals[particleIndex].w) : normals[particleIndex]) * surfacePoint.bary[j];
invMassB += invMasses[particleIndex] * simplexBary[j];
normalB += normals[particleIndex] * surfacePoint.bary[j];
}
// no contact between fixed simplices:
//if (!(invMassA > 0 || invMassB > 0))
// return;
float dAB = math.dot(simplexPoint - surfacePoint.point, surfacePoint.normal);
float vel = math.dot(velocityA - velocityB, surfacePoint.normal);
float vel = math.dot(velocityA - velocityB, surfacePoint.normal);
// check if the projected velocity along the contact normal will get us within collision distance.
if (vel * dt + dAB <= simplexRadiusA + simplexRadiusB + collisionMargin)
{
// adapt collision normal for one-sided simplices:
if ((flagsB & ObiUtils.ParticleFlags.OneSided) != 0 && categoryA < categoryB)
BurstMath.OneSidedNormal(normalB, ref surfacePoint.normal);
BurstMath.OneSidedNormal(normalB, ref surfacePoint.normal);
// during inter-collision, if either particle contains SDF data and they overlap:
if (groupA != groupB && (normalB.w < 0 || normalA.w < 0) && dAB * 1.05f <= simplexRadiusA + simplexRadiusB)
{
// as normal, pick SDF gradient belonging to least penetration distance:
float4 nij = normalB;
if (normalB.w >= 0 || (normalA.w < 0 && normalB.w < normalA.w))
nij = new float4(-normalA.xyz, normalA.w);
// for boundary particles, use one sided sphere normal:
if (math.abs(nij.w) <= math.max(simplexRadiusA, simplexRadiusB) * 1.5f)
BurstMath.OneSidedNormal(nij, ref surfacePoint.normal);
else
surfacePoint.normal = nij;
}
surfacePoint.normal.w = 0;
contactsQueue.Enqueue(new BurstContact
contactsQueue.Enqueue(new BurstContact()
{
bodyA = A,
bodyB = B,
pointA = simplexBary,
pointB = surfacePoint.bary,
normal = surfacePoint.normal
});
});
}
}
}
}
[BurstCompile]
public struct InterpolateDiffusePropertiesJob : IJobParallelFor
{
[ReadOnly] public NativeMultilevelGrid<int> grid;
[DeallocateOnJobCompletion]
[ReadOnly] public NativeArray<int4> cellOffsets;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float4> properties;
[ReadOnly] public NativeArray<float4> diffusePositions;
[ReadOnly] public Poly6Kernel densityKernel;
public NativeArray<float4> diffuseProperties;
public NativeArray<int> neighbourCount;
[DeallocateOnJobCompletion]
[ReadOnly] public NativeArray<int> gridLevels;
[ReadOnly] public BurstInertialFrame inertialFrame;
[ReadOnly] public bool mode2D;
public void Execute(int p)
{
neighbourCount[p] = 0;
float4 diffuseProperty = float4.zero;
float kernelSum = 0;
int offsetCount = mode2D ? 4 : 8;
float4 solverDiffusePosition = inertialFrame.frame.InverseTransformPoint(diffusePositions[p]);
for (int k = 0; k < gridLevels.Length; ++k)
{
int l = gridLevels[k];
float radius = NativeMultilevelGrid<int>.CellSizeOfLevel(l);
float4 cellCoords = math.floor(solverDiffusePosition / radius);
cellCoords[3] = 0;
if (mode2D)
cellCoords[2] = 0;
float4 posInCell = solverDiffusePosition - (cellCoords * radius + new float4(radius * 0.5f));
int4 quadrant = (int4)math.sign(posInCell);
quadrant[3] = l;
for (int i = 0; i < offsetCount; ++i)
{
int cellIndex;
if (grid.TryGetCellIndex((int4)cellCoords + cellOffsets[i] * quadrant, out cellIndex))
{
var cell = grid.usedCells[cellIndex];
for (int n = 0; n < cell.Length; ++n)
{
float4 r = solverDiffusePosition - positions[cell[n]];
r[3] = 0;
if (mode2D)
r[2] = 0;
float d = math.length(r);
if (d <= radius)
{
float w = densityKernel.W(d, radius);
kernelSum += w;
diffuseProperty += properties[cell[n]] * w;
neighbourCount[p]++;
}
}
}
}
}
if (kernelSum > BurstMath.epsilon)
diffuseProperties[p] = diffuseProperty / kernelSum;
}
}
public ParticleGrid()
{
this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
@@ -366,15 +436,22 @@ namespace Obi
this.fluidInteractionQueue = new NativeQueue<FluidInteraction>(Allocator.Persistent);
}
public void Update(BurstSolverImpl solver, JobHandle inputDeps)
public void Update(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
{
var calculateCells = new CalculateCellCoords
{
simplexBounds = solver.simplexBounds,
cellCoords = solver.cellCoords,
is2D = solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D,
};
inputDeps = calculateCells.Schedule(solver.simplexCounts.simplexCount, 4, inputDeps);
var updateGrid = new UpdateGrid
{
grid = grid,
simplexBounds = solver.simplexBounds,
simplexCount = solver.simplexCounts.simplexCount,
cellCoords = solver.cellCoords,
parameters = solver.abstraction.parameters
simplexCount = solver.simplexCounts.simplexCount
};
updateGrid.Schedule(inputDeps).Complete();
}
@@ -395,12 +472,13 @@ namespace Obi
invMasses = solver.invMasses,
radii = solver.principalRadii,
normals = solver.normals,
fluidMaterials = solver.fluidMaterials,
fluidRadii = solver.smoothingRadii,
phases = solver.phases,
filters = solver.filters,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
simplexBounds = solver.simplexBounds,
particleMaterialIndices = solver.abstraction.collisionMaterials.AsNativeArray<int>(),
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
@@ -416,11 +494,49 @@ namespace Obi
return generateParticleContactsJob.Schedule(grid.CellCount, 1);
}
public JobHandle InterpolateDiffuseProperties(BurstSolverImpl solver,
NativeArray<float4> properties,
NativeArray<float4> diffusePositions,
NativeArray<float4> diffuseProperties,
NativeArray<int> neighbourCount,
int diffuseCount)
{
NativeArray<int4> offsets = new NativeArray<int4>(8, Allocator.TempJob);
offsets[0] = new int4(0, 0, 0, 1);
offsets[1] = new int4(1, 0, 0, 1);
offsets[2] = new int4(0, 1, 0, 1);
offsets[3] = new int4(1, 1, 0, 1);
offsets[4] = new int4(0, 0, 1, 1);
offsets[5] = new int4(1, 0, 1, 1);
offsets[6] = new int4(0, 1, 1, 1);
offsets[7] = new int4(1, 1, 1, 1);
var interpolateDiffusePropertiesJob = new InterpolateDiffusePropertiesJob
{
grid = grid,
positions = solver.abstraction.positions.AsNativeArray<float4>(),
cellOffsets = offsets,
properties = properties,
diffusePositions = diffusePositions,
diffuseProperties = diffuseProperties,
neighbourCount = neighbourCount,
densityKernel = new Poly6Kernel(solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
inertialFrame = solver.inertialFrame,
mode2D = solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
};
return interpolateDiffusePropertiesJob.Schedule(diffuseCount, 64);
}
public JobHandle SpatialQuery(BurstSolverImpl solver,
NativeArray<BurstQueryShape> shapes,
NativeArray<BurstAffineTransform> transforms,
NativeQueue<BurstQueryResult> results)
{
var world = ObiColliderWorld.GetInstance();
var job = new SpatialQueryJob
{
grid = grid,

127
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
View File

@@ -1,5 +1,6 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using Unity.Mathematics;
using Unity.Collections;
namespace Obi
{
@@ -8,25 +9,34 @@ namespace Obi
public float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
public float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
public float4 normal; // contact normal on bodyB's surface.
public float4 tangent; // contact tangent on bodyB's surface.
public float4 normal;
public float4 tangent;
public float4 bitangent;
public float distance; // distance between bodyA's and bodyB's surface.
public float distance;
public float normalLambda;
public float tangentLambda;
public float bitangentLambda;
public float stickLambda;
public float rollingFrictionImpulse;
float normalLambda;
float tangentLambda;
float bitangentLambda;
float stickLambda;
float rollingFrictionImpulse;
public int bodyA;
public int bodyB;
public float normalInvMassA;
public float tangentInvMassA;
public float bitangentInvMassA;
public float normalInvMassB;
public float tangentInvMassB;
public float bitangentInvMassB;
public double pad0; // padding to ensure correct alignment to 128 bytes.
public int GetParticleCount() { return 2; }
public int GetParticle(int index) { return index == 0 ? bodyA : bodyB; }
public float4 bitangent => math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz), 0));
public override string ToString()
{
return bodyA + "," + bodyB;
@@ -40,15 +50,85 @@ namespace Obi
return first;
}
public void CalculateTangent(float4 relativeVelocity)
public float TotalNormalInvMass
{
tangent = math.normalizesafe(relativeVelocity - math.dot(relativeVelocity, normal) * normal);
get { return normalInvMassA + normalInvMassB; }
}
public float SolveAdhesion(float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
public float TotalTangentInvMass
{
get { return tangentInvMassA + tangentInvMassB; }
}
public float TotalBitangentInvMass
{
get { return bitangentInvMassA + bitangentInvMassB; }
}
public void CalculateBasis(float4 relativeVelocity)
{
tangent = math.normalizesafe(relativeVelocity - math.dot(relativeVelocity, normal) * normal);
bitangent = math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz),0));
}
public void CalculateContactMassesA(float invMass,
float4 inverseInertiaTensor,
float4 position,
quaternion orientation,
float4 contactPoint,
bool rollingContacts)
{
// initialize inverse linear masses:
normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
if (rollingContacts)
{
float4 rA = contactPoint - position;
float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
normalInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, normal);
tangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, tangent);
bitangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, bitangent);
}
}
public void CalculateContactMassesB(float invMass,
float4 inverseInertiaTensor,
float4 position,
quaternion orientation,
float4 contactPoint,
bool rollingContacts)
{
// initialize inverse linear masses:
normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
if (rollingContacts)
{
float4 rB = contactPoint - position;
float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
normalInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, normal);
tangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, tangent);
bitangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, bitangent);
}
}
public void CalculateContactMassesB(in BurstRigidbody rigidbody, in BurstAffineTransform solver2World)
{
float4 rB = solver2World.TransformPoint(pointB) - rigidbody.com;
// initialize inverse linear masses:
normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
}
public float SolveAdhesion(float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
{
if (normalMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
if (TotalNormalInvMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
return 0;
distance = math.dot(posA - posB, normal);
@@ -57,7 +137,7 @@ namespace Obi
float constraint = stickiness * (1 - math.max(distance / stickDistance, 0)) * dt;
// calculate lambda multiplier:
float dlambda = -constraint / normalMass;
float dlambda = -constraint / TotalNormalInvMass;
// accumulate lambda:
float newStickinessLambda = math.min(stickLambda + dlambda, 0);
@@ -69,9 +149,10 @@ namespace Obi
return lambdaChange;
}
public float SolvePenetration(float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
public float SolvePenetration(float4 posA, float4 posB, float maxDepenetrationDelta)
{
if (normalMass <= 0)
if (TotalNormalInvMass <= 0)
return 0;
//project position delta to normal vector:
@@ -81,7 +162,7 @@ namespace Obi
float maxProjection = math.max(-distance - maxDepenetrationDelta, 0);
// calculate lambda multiplier:
float dlambda = -(distance + maxProjection) / normalMass;
float dlambda = -(distance + maxProjection) / TotalNormalInvMass;
// accumulate lambda:
float newLambda = math.max(normalLambda + dlambda, 0);
@@ -93,11 +174,11 @@ namespace Obi
return lambdaChange;
}
public float2 SolveFriction(float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
public float2 SolveFriction(float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
{
float2 lambdaChange = float2.zero;
if (tangentMass <= 0 || bitangentMass <= 0 ||
if (TotalTangentInvMass <= 0 || TotalBitangentInvMass <= 0 ||
(dynamicFriction <= 0 && staticFriction <= 0) || (normalLambda <= 0 && stickLambda <= 0))
return lambdaChange;
@@ -110,7 +191,7 @@ namespace Obi
float staticFrictionCone = normalLambda / dt * staticFriction;
// tangent impulse:
float tangentLambdaDelta = -tangentPosDelta / tangentMass;
float tangentLambdaDelta = -tangentPosDelta / TotalTangentInvMass;
float newTangentLambda = tangentLambda + tangentLambdaDelta;
if (math.abs(newTangentLambda) > staticFrictionCone)
@@ -120,7 +201,7 @@ namespace Obi
tangentLambda = newTangentLambda;
// bitangent impulse:
float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
float bitangentLambdaDelta = -bitangentPosDelta / TotalBitangentInvMass;
float newBitangentLambda = bitangentLambda + bitangentLambdaDelta;
if (math.abs(newBitangentLambda) > staticFrictionCone)
@@ -158,6 +239,6 @@ namespace Obi
return rolling_impulse_change;
}
}
}
}
#endif

2
Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
View File

@@ -10,9 +10,9 @@ namespace Obi
public float4 queryPoint; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
public float4 normal;
public float distance;
public float distanceAlongRay;
public int simplexIndex;
public int queryIndex;
public int pad0; // padding to ensure correct alignment.
}
}
#endif