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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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29
Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
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@@ -8,12 +8,12 @@ namespace Obi
[Serializable]
public class ObiPinConstraintsBatch : ObiConstraintsBatch
{
protected IPinConstraintsBatchImpl m_BatchImpl;
protected IPinConstraintsBatchImpl m_BatchImpl;
/// <summary>
/// for each constraint, handle of the pinned collider.
/// </summary>
[HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
[HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
/// <summary>
/// index of the pinned collider in the collider world.
@@ -23,17 +23,22 @@ namespace Obi
/// <summary>
/// Pin position expressed in the attachment's local space.
/// </summary>
[HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
[HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
/// <summary>
/// Rest Darboux vector for each constraint.
/// </summary>
[HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
[HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
/// <summary>
/// Compliances of pin constraits. 2 float per constraint (positional and rotational compliance).
/// </summary>
[HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
[HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
/// <summary>
/// One float per constraint: break threshold.
/// </summary>
[HideInInspector] public ObiNativeFloatList breakThresholds = new ObiNativeFloatList();
public override Oni.ConstraintType constraintType
{
@@ -49,17 +54,18 @@ namespace Obi
{
}
public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, bool projectRenderable = false)
public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, float breakThreshold)
{
RegisterConstraint();
particleIndices.Add(solverIndex);
pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
colliderIndices.Add(body != null ? body.Handle.index : -1);
offsets.Add(new Vector4(offset.x, offset.y, offset.z, projectRenderable ? 1:0));
offsets.Add(offset);
restDarbouxVectors.Add(restDarboux);
stiffnesses.Add(linearCompliance);
stiffnesses.Add(rotationalCompliance);
breakThresholds.Add(breakThreshold);
}
public override void Clear()
@@ -102,11 +108,13 @@ namespace Obi
offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
@@ -131,13 +139,6 @@ namespace Obi
public override void RemoveFromSolver(ObiSolver solver)
{
base.RemoveFromSolver(solver);
restDarbouxVectors.Dispose();
colliderIndices.Dispose();
offsets.Dispose();
stiffnesses.Dispose();
if (solver != null && solver.implementation != null)
solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
}