110 lines
3.5 KiB
C#
110 lines
3.5 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using UnityEngine;
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using Unity.Burst;
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using Unity.Jobs;
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using Unity.Collections;
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using Unity.Collections.LowLevel.Unsafe;
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using Unity.Mathematics;
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using System.Collections;
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namespace Obi
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{
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public abstract class BurstConstraintsBatchImpl : IConstraintsBatchImpl
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{
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protected IBurstConstraintsImpl m_Constraints;
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protected Oni.ConstraintType m_ConstraintType;
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protected bool m_Enabled = true;
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protected int m_ConstraintCount = 0;
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public Oni.ConstraintType constraintType
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{
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get { return m_ConstraintType; }
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}
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public bool enabled
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{
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set { m_Enabled = value; }
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get { return m_Enabled; }
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}
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public IConstraints constraints
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{
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get { return m_Constraints; }
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}
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public ObiSolver solverAbstraction
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{
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get { return ((BurstSolverImpl)m_Constraints.solver).abstraction; }
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}
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public BurstSolverImpl solverImplementation
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{
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get { return (BurstSolverImpl)m_Constraints.solver; }
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}
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protected NativeArray<int> particleIndices;
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protected NativeArray<float> lambdas;
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public virtual JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
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{
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if (lambdas.IsCreated)
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{
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inputDeps = new ClearLambdasJob {lambdas = lambdas}.Schedule(lambdas.Length, 256, inputDeps);
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}
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return inputDeps;
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}
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// implemented by concrete constraint subclasses.
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public abstract JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
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public abstract JobHandle Apply(JobHandle inputDeps, float substepTime);
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public virtual void Destroy()
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{
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// clean resources allocated by the batch, no need for a default implementation.
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}
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public void SetConstraintCount(int constraintCount)
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{
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m_ConstraintCount = constraintCount;
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}
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public int GetConstraintCount()
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{
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return m_ConstraintCount;
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}
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public static void ApplyPositionDelta(int particleIndex, float sorFactor, ref NativeArray<float4> positions, ref NativeArray<float4> deltas, ref NativeArray<int> counts)
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{
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if (counts[particleIndex] > 0)
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{
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positions[particleIndex] += deltas[particleIndex] * sorFactor / counts[particleIndex];
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deltas[particleIndex] = float4.zero;
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counts[particleIndex] = 0;
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}
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}
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public static void ApplyOrientationDelta(int particleIndex, float sorFactor, ref NativeArray<quaternion> orientations, ref NativeArray<quaternion> deltas, ref NativeArray<int> counts)
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{
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if (counts[particleIndex] > 0)
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{
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quaternion q = orientations[particleIndex];
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q.value += deltas[particleIndex].value * sorFactor / counts[particleIndex];
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orientations[particleIndex] = math.normalize(q);
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deltas[particleIndex] = new quaternion(0, 0, 0, 0);
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counts[particleIndex] = 0;
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}
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}
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[BurstCompile]
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public struct ClearLambdasJob : IJobParallelFor
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{
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public NativeArray<float> lambdas;
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public void Execute(int i)
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{
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lambdas[i] = 0;
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}
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}
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}
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}
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#endif |