73 lines
2.2 KiB
Plaintext
73 lines
2.2 KiB
Plaintext
#include "ColliderDefinitions.cginc"
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#include "ContactHandling.cginc"
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#include "DistanceFunctions.cginc"
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#include "Simplex.cginc"
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#include "Bounds.cginc"
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#include "SolverParameters.cginc"
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#include "Optimization.cginc"
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#pragma kernel GenerateContacts
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StructuredBuffer<float4> positions;
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StructuredBuffer<quaternion> orientations;
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StructuredBuffer<float4> principalRadii;
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StructuredBuffer<float4> velocities;
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StructuredBuffer<int> simplices;
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StructuredBuffer<transform> transforms;
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StructuredBuffer<shape> shapes;
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StructuredBuffer<uint2> contactPairs;
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StructuredBuffer<int> contactOffsetsPerType;
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RWStructuredBuffer<contact> contacts;
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RWStructuredBuffer<uint> dispatchBuffer;
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StructuredBuffer<transform> worldToSolver;
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uint maxContacts;
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[numthreads(128, 1, 1)]
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void GenerateContacts (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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// entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
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if (i >= dispatchBuffer[11 + 4*BOX_SHAPE]) return;
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uint count = contacts.IncrementCounter();
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if (count < maxContacts)
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{
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int firstPair = contactOffsetsPerType[BOX_SHAPE];
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int simplexIndex = contactPairs[firstPair + i].x;
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int colliderIndex = contactPairs[firstPair + i].y;
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contact c = (contact)0;
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Box boxShape;
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boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
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boxShape.s = shapes[colliderIndex];
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int simplexSize;
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int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
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float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
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float4 simplexPoint;
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SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
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simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
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c.pointB = surfacePoint.pos;
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c.normal = surfacePoint.normal * boxShape.s.isInverted();
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c.pointA = simplexBary;
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c.bodyA = simplexIndex;
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c.bodyB = colliderIndex;
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contacts[count] = c;
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InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
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InterlockedMax(dispatchBuffer[3], count + 1);
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}
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} |