126 lines
8.9 KiB
C#
126 lines
8.9 KiB
C#
using UnityEngine;
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namespace Obi
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{
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public class ComputeColliderCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
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{
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public ComputeColliderCollisionConstraintsBatch(ComputeColliderCollisionConstraints constraints)
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{
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m_Constraints = constraints;
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m_ConstraintType = Oni.ConstraintType.Collision;
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}
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public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
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{
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if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
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{
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var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
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int initializeKernel = ((ComputeColliderCollisionConstraints)m_Constraints).initializeKernel;
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int clearKernel = ((ComputeColliderCollisionConstraints)m_Constraints).clearKernel;
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shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
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shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
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shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
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shader.SetBuffer(clearKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
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shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
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shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
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shader.SetBuffer(clearKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
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shader.SetBuffer(initializeKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
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shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
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shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
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shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
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shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
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shader.SetBuffer(initializeKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
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shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
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shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
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shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
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shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
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shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
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shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
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shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
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shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
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shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
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shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
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shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
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shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer);
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shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
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shader.SetBuffer(initializeKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
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shader.SetBuffer(initializeKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
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shader.SetBuffer(initializeKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
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shader.SetFloat("substepTime", substepTime);
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shader.DispatchIndirect(clearKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
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shader.DispatchIndirect(initializeKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
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}
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}
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public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
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{
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if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
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{
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var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
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int projectKernel = ((ComputeColliderCollisionConstraints)m_Constraints).projectKernel;
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shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
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shader.SetBuffer(projectKernel, "effectiveMasses", this.solverAbstraction.contactEffectiveMasses.computeBuffer);
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shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
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shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
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shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
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shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
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shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
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shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
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shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
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shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
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shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
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shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
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shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
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shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
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shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
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shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
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shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
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shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
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shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
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shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
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shader.SetFloat("substepTime", substepTime);
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shader.SetFloat("stepTime", stepTime);
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shader.SetInt("steps", steps);
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shader.SetFloat("timeLeft", timeLeft);
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shader.SetFloat("maxDepenetration", solverAbstraction.parameters.maxDepenetration);
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shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
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}
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}
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public override void Apply(float substepTime)
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{
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var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
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int applyKernel = ((ComputeColliderCollisionConstraints)m_Constraints).applyKernel;
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if (solverImplementation.activeParticleCount > 0)
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{
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var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
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shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
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shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
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shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
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shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
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shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
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shader.SetFloat("sorFactor", parameters.SORFactor);
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int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
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shader.Dispatch(applyKernel, threadGroups, 1, 1);
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}
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}
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}
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} |