101 lines
3.3 KiB
Plaintext
101 lines
3.3 KiB
Plaintext
#include "ColliderDefinitions.cginc"
|
|
#include "ContactHandling.cginc"
|
|
#include "DistanceFunctions.cginc"
|
|
#include "Simplex.cginc"
|
|
#include "Bounds.cginc"
|
|
#include "SolverParameters.cginc"
|
|
#include "Optimization.cginc"
|
|
|
|
#pragma kernel GenerateContacts
|
|
|
|
StructuredBuffer<float4> positions;
|
|
StructuredBuffer<quaternion> orientations;
|
|
StructuredBuffer<float4> principalRadii;
|
|
StructuredBuffer<float4> velocities;
|
|
|
|
StructuredBuffer<int> simplices;
|
|
|
|
StructuredBuffer<transform> transforms;
|
|
StructuredBuffer<shape> shapes;
|
|
|
|
// distance field data:
|
|
StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
|
|
StructuredBuffer<DFNode> dfNodes;
|
|
|
|
StructuredBuffer<uint2> contactPairs;
|
|
StructuredBuffer<int> contactOffsetsPerType;
|
|
|
|
RWStructuredBuffer<contact> contacts;
|
|
RWStructuredBuffer<uint> dispatchBuffer;
|
|
|
|
StructuredBuffer<transform> worldToSolver;
|
|
|
|
uint maxContacts;
|
|
float deltaTime;
|
|
|
|
[numthreads(128, 1, 1)]
|
|
void GenerateContacts (uint3 id : SV_DispatchThreadID)
|
|
{
|
|
uint i = id.x;
|
|
|
|
// entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
|
|
if (i >= dispatchBuffer[11 + 4 * SDF_SHAPE]) return;
|
|
|
|
int firstPair = contactOffsetsPerType[SDF_SHAPE];
|
|
int simplexIndex = contactPairs[firstPair + i].x;
|
|
int colliderIndex = contactPairs[firstPair + i].y;
|
|
shape s = shapes[colliderIndex];
|
|
|
|
if (s.dataIndex < 0) return;
|
|
|
|
DistanceField dfShape;
|
|
dfShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
|
|
dfShape.s = s;
|
|
dfShape.distanceFieldHeaders = distanceFieldHeaders;
|
|
dfShape.dfNodes = dfNodes;
|
|
|
|
int simplexSize;
|
|
int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
|
|
|
|
float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
|
|
float4 simplexPoint;
|
|
|
|
SurfacePoint colliderPoint = Optimize(dfShape, positions, orientations, principalRadii,
|
|
simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
|
|
|
|
float4 velocity = FLOAT4_ZERO;
|
|
float simplexRadius = 0;
|
|
for (int j = 0; j < simplexSize; ++j)
|
|
{
|
|
int particleIndex = simplices[simplexStart + j];
|
|
simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
|
|
velocity += velocities[particleIndex] * simplexBary[j];
|
|
}
|
|
|
|
/*float4 rbVelocity = float4.zero;
|
|
if (rigidbodyIndex >= 0)
|
|
rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
|
|
|
|
//float dAB = dot(simplexPoint - colliderPoint.pos, colliderPoint.normal);
|
|
//float vel = dot(velocity /*- rbVelocity*/, colliderPoint.normal);
|
|
|
|
//if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
|
|
{
|
|
uint count = contacts.IncrementCounter();
|
|
if (count < maxContacts)
|
|
{
|
|
contact c = (contact)0;
|
|
|
|
c.pointB = colliderPoint.pos;
|
|
c.normal = colliderPoint.normal * dfShape.s.isInverted();
|
|
c.pointA = simplexBary;
|
|
c.bodyA = simplexIndex;
|
|
c.bodyB = colliderIndex;
|
|
|
|
contacts[count] = c;
|
|
|
|
InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
|
|
InterlockedMax(dispatchBuffer[3], count + 1);
|
|
}
|
|
}
|
|
} |