273 lines
13 KiB
C#
273 lines
13 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using Unity.Burst;
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using Unity.Collections;
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using Unity.Jobs;
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using Unity.Mathematics;
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namespace Obi
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{
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public struct BurstHeightField : BurstLocalOptimization.IDistanceFunction
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{
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public BurstColliderShape shape;
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public BurstAffineTransform colliderToSolver;
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public BurstMath.CachedTri tri;
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public float4 triNormal;
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public HeightFieldHeader header;
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public NativeArray<float> heightFieldSamples;
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public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
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{
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point = colliderToSolver.InverseTransformPoint(point);
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float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out _);
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float4 normal = math.normalizesafe(point - nearestPoint);
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// flip the contact normal if it points below ground: (doesn't work with holes)
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//BurstMath.OneSidedNormal(triNormal, ref normal);
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projectedPoint.point = colliderToSolver.TransformPoint(nearestPoint + normal * shape.contactOffset);
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projectedPoint.normal = colliderToSolver.TransformDirection(normal);
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}
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public static JobHandle GenerateContacts(ObiColliderWorld world,
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BurstSolverImpl solver,
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NativeList<Oni.ContactPair> contactPairs,
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NativeQueue<BurstContact> contactQueue,
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NativeArray<int> contactOffsetsPerType,
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float deltaTime,
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JobHandle inputDeps)
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{
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int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Heightmap];
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if (pairCount == 0) return inputDeps;
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var job = new GenerateHeightFieldContactsJob
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{
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contactPairs = contactPairs,
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positions = solver.positions,
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orientations = solver.orientations,
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velocities = solver.velocities,
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invMasses = solver.invMasses,
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radii = solver.principalRadii,
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simplices = solver.simplices,
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simplexCounts = solver.simplexCounts,
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simplexBounds = solver.simplexBounds,
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transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
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rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
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heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray<HeightFieldHeader>(),
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heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray<float>(),
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contactsQueue = contactQueue.AsParallelWriter(),
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solverToWorld = solver.inertialFrame,
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worldToSolver = solver.worldToSolver,
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deltaTime = deltaTime,
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parameters = solver.abstraction.parameters,
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firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap]
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};
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inputDeps = job.Schedule(pairCount, 1, inputDeps);
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return inputDeps;
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}
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}
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[BurstCompile]
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struct GenerateHeightFieldContactsJob : IJobParallelFor
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{
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[ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
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// particle arrays:
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[ReadOnly] public NativeArray<float4> velocities;
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[ReadOnly] public NativeArray<float4> positions;
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[ReadOnly] public NativeArray<quaternion> orientations;
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[ReadOnly] public NativeArray<float> invMasses;
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[ReadOnly] public NativeArray<float4> radii;
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// simplex arrays:
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[ReadOnly] public NativeArray<int> simplices;
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[ReadOnly] public SimplexCounts simplexCounts;
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[ReadOnly] public NativeArray<BurstAabb> simplexBounds;
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// collider arrays:
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[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
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[ReadOnly] public NativeArray<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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// height field data:
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[ReadOnly] public NativeArray<HeightFieldHeader> heightFieldHeaders;
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[ReadOnly] public NativeArray<float> heightFieldSamples;
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[WriteOnly]
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[NativeDisableParallelForRestriction]
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public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
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// auxiliar data:
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[ReadOnly] public int firstPair;
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[ReadOnly] public BurstInertialFrame solverToWorld;
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[ReadOnly] public BurstAffineTransform worldToSolver;
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[ReadOnly] public float deltaTime;
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[ReadOnly] public Oni.SolverParameters parameters;
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public void Execute(int i)
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{
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int simplexIndex = contactPairs[firstPair + i].bodyA;
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int colliderIndex = contactPairs[firstPair + i].bodyB;
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var shape = shapes[colliderIndex];
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if (shape.dataIndex < 0)
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return;
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var header = heightFieldHeaders[shape.dataIndex];
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int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
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int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
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var simplexBound = simplexBounds[simplexIndex];
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BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
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// invert a full matrix here to accurately represent collider bounds scale.
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var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
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var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
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BurstHeightField triangleMeshShape = new BurstHeightField()
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{
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colliderToSolver = colliderToSolver,
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shape = shapes[colliderIndex],
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header = heightFieldHeaders[shapes[colliderIndex].dataIndex],
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heightFieldSamples = heightFieldSamples
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};
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float4 triNormal = float4.zero;
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var co = new BurstContact { bodyA = simplexIndex, bodyB = colliderIndex };
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int resolutionU = (int)shape.center.x;
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int resolutionV = (int)shape.center.y;
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// calculate terrain cell size:
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float cellWidth = shape.size.x / (resolutionU - 1);
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float cellHeight = shape.size.z / (resolutionV - 1);
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// calculate particle bounds min/max cells:
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int2 min = new int2((int)math.floor(simplexBoundsCS.min[0] / cellWidth), (int)math.floor(simplexBoundsCS.min[2] / cellHeight));
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int2 max = new int2((int)math.floor(simplexBoundsCS.max[0] / cellWidth), (int)math.floor(simplexBoundsCS.max[2] / cellHeight));
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for (int su = min[0]; su <= max[0]; ++su)
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{
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if (su >= 0 && su < resolutionU - 1)
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{
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for (int sv = min[1]; sv <= max[1]; ++sv)
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{
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if (sv >= 0 && sv < resolutionV - 1)
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{
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// calculate neighbor sample indices:
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int csu1 = math.clamp(su + 1, 0, resolutionU - 1);
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int csv1 = math.clamp(sv + 1, 0, resolutionV - 1);
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// sample heights:
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float h1 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * shape.size.y;
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float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * shape.size.y;
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float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * shape.size.y;
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float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * shape.size.y;
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if (h1 < 0) continue;
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h1 = math.abs(h1);
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h2 = math.abs(h2);
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h3 = math.abs(h3);
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h4 = math.abs(h4);
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float min_x = su * shape.size.x / (resolutionU - 1);
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float max_x = csu1 * shape.size.x / (resolutionU - 1);
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float min_z = sv * shape.size.z / (resolutionV - 1);
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float max_z = csv1 * shape.size.z / (resolutionV - 1);
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float4 convexPoint;
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float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
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// ------contact against the first triangle------:
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float4 v1 = new float4(min_x, h3, max_z, 0);
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float4 v2 = new float4(max_x, h4, max_z, 0);
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float4 v3 = new float4(min_x, h1, min_z, 0);
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triangleMeshShape.tri.Cache(v1, v2, v3);
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triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
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var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
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float4 velocity = float4.zero;
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float simplexRadius = 0;
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for (int j = 0; j < simplexSize; ++j)
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{
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int particleIndex = simplices[simplexStart + j];
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simplexRadius += radii[particleIndex].x * simplexBary[j];
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velocity += velocities[particleIndex] * simplexBary[j];
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}
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float4 rbVelocity = float4.zero;
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if (rigidbodyIndex >= 0)
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rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
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float dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
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float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
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if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
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{
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co.pointB = colliderPoint.point;
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co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
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co.pointA = simplexBary;
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contactsQueue.Enqueue(co);
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}
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// ------contact against the second triangle------:
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v1 = new float4(min_x, h1, min_z, 0);
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v2 = new float4(max_x, h4, max_z, 0);
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v3 = new float4(max_x, h2, min_z, 0);
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triangleMeshShape.tri.Cache(v1, v2, v3);
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triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
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colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
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velocity = float4.zero;
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simplexRadius = 0;
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for (int j = 0; j < simplexSize; ++j)
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{
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int particleIndex = simplices[simplexStart + j];
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simplexRadius += radii[particleIndex].x * simplexBary[j];
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velocity += velocities[particleIndex] * simplexBary[j];
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}
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rbVelocity = float4.zero;
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if (rigidbodyIndex >= 0)
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rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
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dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
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vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
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if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
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{
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co.pointB = colliderPoint.point;
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co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
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co.pointA = simplexBary;
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contactsQueue.Enqueue(co);
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}
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}
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}
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}
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}
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}
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}
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}
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#endif |