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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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36
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs
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using System;
using UnityEngine;
namespace Obi
{
public class ComputeColliderCollisionConstraints : ComputeConstraintsImpl<ComputeColliderCollisionConstraintsBatch>
{
public ComputeShader constraintsShader;
public int clearKernel;
public int initializeKernel;
public int projectKernel;
public int applyKernel;
public ComputeColliderCollisionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
{
constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderCollisionConstraints"));
clearKernel = constraintsShader.FindKernel("Clear");
initializeKernel = constraintsShader.FindKernel("Initialize");
projectKernel = constraintsShader.FindKernel("Project");
applyKernel = constraintsShader.FindKernel("Apply");
}
public override IConstraintsBatchImpl CreateConstraintsBatch()
{
var dataBatch = new ComputeColliderCollisionConstraintsBatch(this);
batches.Add(dataBatch);
return dataBatch;
}
public override void RemoveBatch(IConstraintsBatchImpl batch)
{
batches.Remove(batch as ComputeColliderCollisionConstraintsBatch);
batch.Destroy();
}
}
}

11
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta
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126
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs
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using UnityEngine;
namespace Obi
{
public class ComputeColliderCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
{
public ComputeColliderCollisionConstraintsBatch(ComputeColliderCollisionConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Collision;
}
public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
{
if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
{
var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
int initializeKernel = ((ComputeColliderCollisionConstraints)m_Constraints).initializeKernel;
int clearKernel = ((ComputeColliderCollisionConstraints)m_Constraints).clearKernel;
shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
shader.SetBuffer(clearKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
shader.SetBuffer(clearKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
shader.SetBuffer(initializeKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
shader.SetBuffer(initializeKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer);
shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
shader.SetBuffer(initializeKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
shader.SetBuffer(initializeKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
shader.SetBuffer(initializeKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
shader.SetFloat("substepTime", substepTime);
shader.DispatchIndirect(clearKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
shader.DispatchIndirect(initializeKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
}
}
public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
{
if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
{
var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
int projectKernel = ((ComputeColliderCollisionConstraints)m_Constraints).projectKernel;
shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
shader.SetBuffer(projectKernel, "effectiveMasses", this.solverAbstraction.contactEffectiveMasses.computeBuffer);
shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
shader.SetFloat("substepTime", substepTime);
shader.SetFloat("stepTime", stepTime);
shader.SetInt("steps", steps);
shader.SetFloat("timeLeft", timeLeft);
shader.SetFloat("maxDepenetration", solverAbstraction.parameters.maxDepenetration);
shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
}
}
public override void Apply(float substepTime)
{
var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
int applyKernel = ((ComputeColliderCollisionConstraints)m_Constraints).applyKernel;
if (solverImplementation.activeParticleCount > 0)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
shader.SetFloat("sorFactor", parameters.SORFactor);
int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
shader.Dispatch(applyKernel, threadGroups, 1, 1);
}
}
}
}

11
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta
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@@ -1,11 +0,0 @@
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32
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs
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using System;
using UnityEngine;
namespace Obi
{
public class ComputeColliderFrictionConstraints : ComputeConstraintsImpl<ComputeColliderFrictionConstraintsBatch>
{
public ComputeShader constraintsShader;
public int projectKernel;
public int applyKernel;
public ComputeColliderFrictionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
{
constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderFrictionConstraints"));
projectKernel = constraintsShader.FindKernel("Project");
applyKernel = constraintsShader.FindKernel("Apply");
}
public override IConstraintsBatchImpl CreateConstraintsBatch()
{
var dataBatch = new ComputeColliderFrictionConstraintsBatch(this);
batches.Add(dataBatch);
return dataBatch;
}
public override void RemoveBatch(IConstraintsBatchImpl batch)
{
batches.Remove(batch as ComputeColliderFrictionConstraintsBatch);
batch.Destroy();
}
}
}

11
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta
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@@ -1,11 +0,0 @@
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86
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs
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using UnityEngine;
namespace Obi
{
public class ComputeColliderFrictionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
{
public ComputeColliderFrictionConstraintsBatch(ComputeColliderFrictionConstraints constraints)
{
m_Constraints = constraints;
m_ConstraintType = Oni.ConstraintType.Friction;
}
public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
{
if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
{
var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
int projectKernel = ((ComputeColliderFrictionConstraints)m_Constraints).projectKernel;
shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
shader.SetBuffer(projectKernel, "solverToWorld", solverImplementation.solverToWorldBuffer);
shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
shader.SetFloat("stepTime", stepTime);
shader.SetFloat("substepTime", substepTime);
shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
}
}
public override void Apply(float substepTime)
{
var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
int applyKernel = ((ComputeColliderFrictionConstraints)m_Constraints).applyKernel;
if (solverImplementation.activeParticleCount > 0)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
shader.SetBuffer(applyKernel, "RW_orientations", solverImplementation.orientationsBuffer);
shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
shader.SetFloat("sorFactor", parameters.SORFactor);
int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
shader.Dispatch(applyKernel, threadGroups, 1, 1);
}
}
}
}

11
Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta
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