633 lines
28 KiB
C#
633 lines
28 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using UnityEngine;
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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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using Unity.Burst;
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using System.Threading;
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using Unity.Collections.LowLevel.Unsafe;
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namespace Obi
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{
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public class BurstColliderWorld : MonoBehaviour, IColliderWorldImpl
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{
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struct MovingCollider
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{
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public BurstCellSpan oldSpan;
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public BurstCellSpan newSpan;
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public int entity;
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}
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public int referenceCount { get; private set; } = 0;
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public int colliderCount { get; private set; } = 0;
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private NativeMultilevelGrid<int> grid;
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private NativeQueue<MovingCollider> movingColliders;
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private NativeArray<int> colliderTypeCounts;
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private NativeQueue<Oni.ContactPair> contactPairQueue;
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public NativeList<Oni.ContactPair> contactPairs;
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public NativeArray<int> contactOffsetsPerType;
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public NativeQueue<BurstContact> colliderContactQueue;
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public ObiNativeCellSpanList cellSpans;
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public void Awake()
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{
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this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
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this.movingColliders = new NativeQueue<MovingCollider>(Allocator.Persistent);
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this.colliderContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
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this.contactPairQueue = new NativeQueue<Oni.ContactPair>(Allocator.Persistent);
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this.colliderTypeCounts = new NativeArray<int>(Oni.ColliderShapeTypeCount, Allocator.Persistent);
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this.contactOffsetsPerType = new NativeArray<int>(Oni.ColliderShapeTypeCount + 1, Allocator.Persistent);
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this.contactPairs = new NativeList<Oni.ContactPair>(Allocator.Persistent);
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this.cellSpans = new ObiNativeCellSpanList();
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ObiColliderWorld.GetInstance().RegisterImplementation(this);
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}
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public void OnDestroy()
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{
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ObiColliderWorld.GetInstance().UnregisterImplementation(this);
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grid.Dispose();
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movingColliders.Dispose();
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colliderTypeCounts.Dispose();
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contactPairQueue.Dispose();
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contactPairs.Dispose();
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contactOffsetsPerType.Dispose();
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colliderContactQueue.Dispose();
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cellSpans.Dispose();
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}
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public void IncreaseReferenceCount()
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{
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referenceCount++;
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}
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public void DecreaseReferenceCount()
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{
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if (--referenceCount <= 0 && gameObject != null)
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DestroyImmediate(gameObject);
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}
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public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
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{
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colliderCount = shapes.count;
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// insert new empty cellspans at the end if needed:
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while (colliderCount > cellSpans.count)
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cellSpans.Add(new CellSpan(new VInt4(10000), new VInt4(10000)));
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}
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public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
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{
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}
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public void SetForceZones(ObiNativeForceZoneList rigidbody)
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{
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}
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public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
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{
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}
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public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
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{
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}
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public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
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{
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}
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public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes) { }
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public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples) { }
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public void UpdateWorld(float deltaTime)
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{
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var world = ObiColliderWorld.GetInstance();
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var identifyMoving = new IdentifyMovingColliders
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{
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movingColliders = movingColliders.AsParallelWriter(),
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shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(cellSpans.count),
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rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
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collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
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bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(cellSpans.count),
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cellIndices = cellSpans.AsNativeArray<BurstCellSpan>(),
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colliderCount = colliderCount,
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dt = deltaTime
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};
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JobHandle movingHandle = identifyMoving.Schedule(cellSpans.count, 128);
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var updateMoving = new UpdateMovingColliders
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{
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movingColliders = movingColliders,
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grid = grid,
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colliderCount = colliderCount
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};
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updateMoving.Schedule(movingHandle).Complete();
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// remove tail from the current spans array:
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if (colliderCount < cellSpans.count)
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cellSpans.count -= cellSpans.count - colliderCount;
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}
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[BurstCompile]
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struct IdentifyMovingColliders : IJobParallelFor
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{
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[WriteOnly]
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[NativeDisableParallelForRestriction]
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public NativeQueue<MovingCollider>.ParallelWriter movingColliders;
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[ReadOnly] public NativeArray<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
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public NativeArray<BurstAabb> bounds;
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public NativeArray<BurstCellSpan> cellIndices;
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[ReadOnly] public int colliderCount;
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[ReadOnly] public float dt;
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// Iterate over all colliders and store those whose cell span has changed.
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public void Execute(int i)
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{
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BurstAabb velocityBounds = bounds[i];
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int rb = shapes[i].rigidbodyIndex;
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// Expand bounds by rigidbody's linear velocity
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// (check against out of bounds rigidbody access, can happen when a destroyed collider references a rigidbody that has just been destroyed too)
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if (rb >= 0 && rb < rigidbodies.Length)
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velocityBounds.Sweep(rigidbodies[rb].velocity * dt);
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// Expand bounds by collision material's stick distance:
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if (shapes[i].materialIndex >= 0)
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velocityBounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
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float size = velocityBounds.AverageAxisLength();
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int level = NativeMultilevelGrid<int>.GridLevelForSize(size);
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float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
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// get new collider bounds cell coordinates:
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BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(velocityBounds.min.xyz, cellSize), level),
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new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
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// if the collider is 2D, project it to the z = 0 cells.
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if (shapes[i].is2D)
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{
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newSpan.min[2] = 0;
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newSpan.max[2] = 0;
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}
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// if the collider is at the tail (removed), we will only remove it from its current cellspan.
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// if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
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if (i >= colliderCount || cellIndices[i] != newSpan)
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{
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// Add the collider to the list of moving colliders:
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movingColliders.Enqueue(new MovingCollider
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{
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oldSpan = cellIndices[i],
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newSpan = newSpan,
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entity = i
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});
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// Update previous coords:
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cellIndices[i] = newSpan;
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}
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}
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}
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[BurstCompile]
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struct UpdateMovingColliders : IJob
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{
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public NativeQueue<MovingCollider> movingColliders;
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public NativeMultilevelGrid<int> grid;
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[ReadOnly] public int colliderCount;
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public void Execute()
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{
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while (movingColliders.Count > 0)
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{
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MovingCollider movingCollider = movingColliders.Dequeue();
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// remove from old cells:
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grid.RemoveFromCells(movingCollider.oldSpan, movingCollider.entity);
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// insert in new cells, as long as the index is below the amount of colliders.
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// otherwise, the collider is at the "tail" and there's no need to add it back.
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if (movingCollider.entity < colliderCount)
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grid.AddToCells(movingCollider.newSpan, movingCollider.entity);
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}
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// remove all empty cells from the grid:
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grid.RemoveEmpty();
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}
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}
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[BurstCompile]
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unsafe struct GenerateContactsJob : IJobParallelFor
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{
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//collider grid:
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[ReadOnly] public NativeMultilevelGrid<int> colliderGrid;
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[DeallocateOnJobCompletion]
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[ReadOnly] public NativeArray<int> gridLevels;
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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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[ReadOnly] public NativeArray<int> filters;
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[ReadOnly] public NativeArray<int> particleMaterialIndices;
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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<BurstCollisionMaterial> collisionMaterials;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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[ReadOnly] public NativeArray<BurstAabb> bounds;
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[WriteOnly]
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[NativeDisableParallelForRestriction]
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public NativeQueue<Oni.ContactPair>.ParallelWriter contactPairQueue;
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[NativeDisableParallelForRestriction]
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public NativeArray<int> colliderTypeCounts;
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// auxiliar data:
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[ReadOnly] public BurstAffineTransform solverToWorld;
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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 simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
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// get all colliders overlapped by the cell bounds, in all grid levels:
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BurstAabb simplexBoundsWS = simplexBounds[i].Transformed(solverToWorld);
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NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
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// max size of the simplex bounds in cells:
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int3 maxSize = new int3(10);
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bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
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for (int l = 0; l < gridLevels.Length; ++l)
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{
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float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(gridLevels[l]);
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int3 minCell = GridHash.Quantize(simplexBoundsWS.min.xyz, cellSize);
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int3 maxCell = GridHash.Quantize(simplexBoundsWS.max.xyz, cellSize);
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maxCell = minCell + math.min(maxCell - minCell, maxSize);
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for (int x = minCell[0]; x <= maxCell[0]; ++x)
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{
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for (int y = minCell[1]; y <= maxCell[1]; ++y)
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{
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// for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
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// (which are inserted in cells with z == 0) are accounted for in the broadphase.
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if (is2D)
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{
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if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, gridLevels[l]), out int cellIndex))
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{
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var colliderCell = colliderGrid.usedCells[cellIndex];
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candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
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}
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}
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for (int z = minCell[2]; z <= maxCell[2]; ++z)
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{
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if (colliderGrid.TryGetCellIndex(new int4(x, y, z, gridLevels[l]), out int cellIndex))
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{
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var colliderCell = colliderGrid.usedCells[cellIndex];
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candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
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}
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}
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}
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}
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}
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if (candidates.Length > 0)
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{
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// make sure each candidate collider only shows up once in the array:
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NativeArray<int> uniqueCandidates = candidates.AsArray();
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uniqueCandidates.Sort();
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int uniqueCount = uniqueCandidates.Unique();
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// iterate over candidate colliders, generating contacts for each one
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for (int k = 0; k < uniqueCount; ++k)
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{
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int c = uniqueCandidates[k];
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if (c < shapes.Length)
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{
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BurstColliderShape shape = shapes[c];
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BurstAabb colliderBoundsWS = bounds[c];
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int rb = shape.rigidbodyIndex;
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// Expand bounds by rigidbody's linear velocity:
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if (rb >= 0)
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colliderBoundsWS.Sweep(rigidbodies[rb].velocity * deltaTime);
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// Expand bounds by collision material's stick distance:
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if (shape.materialIndex >= 0)
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colliderBoundsWS.Expand(collisionMaterials[shape.materialIndex].stickDistance);
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// check if any simplex particle and the collider should collide:
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bool shouldCollide = false;
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var colliderCategory = shape.filter & ObiUtils.FilterCategoryBitmask;
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var colliderMask = (shape.filter & ObiUtils.FilterMaskBitmask) >> 16;
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for (int j = 0; j < simplexSize; ++j)
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{
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var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
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var simplexMask = (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
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shouldCollide |= (simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0;
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}
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if (shouldCollide && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
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{
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// increment the amount of contacts for this shape type:
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Interlocked.Increment(ref ((int*)colliderTypeCounts.GetUnsafePtr())[(int)shape.type]);
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// enqueue a new contact pair:
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contactPairQueue.Enqueue(new Oni.ContactPair{
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bodyA = i,
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bodyB = c
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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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[BurstCompile]
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struct PrefixSumJob : IJob
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{
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[ReadOnly] public NativeArray<int> array;
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public NativeArray<int> sum;
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public void Execute()
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{
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sum[0] = 0;
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for (int i = 1; i < sum.Length; ++i)
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sum[i] = sum[i - 1] + array[i-1];
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}
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}
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[BurstCompile]
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struct SortContactPairsByShape : IJob
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{
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public NativeQueue<Oni.ContactPair> contactPairQueue;
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[ReadOnly] public NativeArray<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<int> start; // prefix sum
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public NativeArray<int> count;
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public NativeList<Oni.ContactPair> contactPairs;
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public void Execute()
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{
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contactPairs.ResizeUninitialized(contactPairQueue.Count);
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while (!contactPairQueue.IsEmpty())
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{
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var pair = contactPairQueue.Dequeue();
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int shapeType = (int)shapes[pair.bodyB].type;
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// write the pair directly at its position in the sorted array:
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contactPairs[start[shapeType] + (--count[shapeType])] = pair;
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}
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}
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}
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[BurstCompile]
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unsafe struct ApplyForceZonesJob : IJobParallelFor
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{
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// particle arrays:
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[NativeDisableParallelForRestriction] public NativeArray<float4> externalForces;
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[NativeDisableParallelForRestriction] public NativeArray<float4> wind;
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[NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
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[NativeDisableParallelForRestriction] public NativeArray<float4> colors;
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[NativeDisableParallelForRestriction] public NativeArray<float> life;
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[ReadOnly] public NativeArray<float4> positions;
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[ReadOnly] public NativeArray<float> invMasses;
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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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// 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<ForceZone> forceZones;
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// contacts
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[ReadOnly] public NativeArray<BurstContact> contacts;
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// auxiliar data:
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[ReadOnly] public BurstAffineTransform worldToSolver;
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[ReadOnly] public float deltaTime;
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public void Execute(int i)
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{
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var contact = contacts[i];
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int forceZoneIndex = shapes[contact.bodyB].forceZoneIndex;
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if (forceZoneIndex >= 0)
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{
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int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
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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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float distance = -math.dot(positions[particleIndex] - contact.pointB, contact.normal);
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if (distance < 0) continue;
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float4 axis = (worldToSolver * transforms[contact.bodyB]).TransformDirection(new float4(0, 0, 1, 0));
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// calculate falloff region based on min/max distances:
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float falloff = 1;
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float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
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if (math.abs(range) > BurstMath.epsilon)
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falloff = math.pow(math.saturate((distance - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
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float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
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float dampIntensity = forceZones[forceZoneIndex].damping * falloff;
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// tint particles:
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float mix = math.pow(1 - math.saturate(forceZones[forceZoneIndex].color.a * falloff), deltaTime);
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colors[particleIndex] = math.lerp((Vector4)forceZones[forceZoneIndex].color, colors[particleIndex], mix);
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// calculate force direction, depending on the type of the force field:
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float4 result = float4.zero;
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switch (forceZones[forceZoneIndex].type)
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{
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case ForceZone.ZoneType.Radial:
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result = contact.normal * forceIntensity;
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break;
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case ForceZone.ZoneType.Vortex:
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result = new float4(math.cross(axis.xyz * forceIntensity, contact.normal.xyz).xyz, 0);
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break;
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case ForceZone.ZoneType.Directional:
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result = axis * forceIntensity;
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break;
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default:
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BurstMath.AtomicAdd(life, particleIndex, -forceIntensity * deltaTime);
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continue;
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}
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// apply damping:
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switch (forceZones[forceZoneIndex].dampingDir)
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{
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case ForceZone.DampingDirection.ForceDirection:
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{
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float4 forceDir = math.normalizesafe(result);
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|
result -= forceDir * math.dot(velocities[particleIndex], forceDir) * dampIntensity;
|
|
}
|
|
break;
|
|
case ForceZone.DampingDirection.SurfaceDirection:
|
|
result -= contact.normal * math.dot(velocities[particleIndex], contact.normal) * dampIntensity;
|
|
break;
|
|
default:
|
|
result -= velocities[particleIndex] * dampIntensity;
|
|
break;
|
|
}
|
|
|
|
if (invMasses[particleIndex] > 0)
|
|
{
|
|
switch (forceZones[forceZoneIndex].mode)
|
|
{
|
|
case ForceZone.ForceMode.Acceleration:
|
|
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize / invMasses[particleIndex]);
|
|
break;
|
|
case ForceZone.ForceMode.Force:
|
|
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize);
|
|
break;
|
|
case ForceZone.ForceMode.Wind:
|
|
BurstMath.AtomicAdd(wind, particleIndex, result / simplexSize);
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
public JobHandle ApplyForceZones(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
|
|
{
|
|
var world = ObiColliderWorld.GetInstance();
|
|
|
|
var applyForceFieldsJob = new ApplyForceZonesJob
|
|
{
|
|
contacts = solver.abstraction.colliderContacts.AsNativeArray<BurstContact>(),
|
|
|
|
positions = solver.positions,
|
|
velocities = solver.velocities,
|
|
externalForces = solver.externalForces,
|
|
wind = solver.wind,
|
|
invMasses = solver.invMasses,
|
|
life = solver.life,
|
|
colors = solver.colors,
|
|
|
|
simplices = solver.simplices,
|
|
simplexCounts = solver.simplexCounts,
|
|
|
|
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
|
|
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
|
|
forceZones = world.forceZones.AsNativeArray<ForceZone>(),
|
|
|
|
worldToSolver = solver.worldToSolver,
|
|
deltaTime = deltaTime,
|
|
};
|
|
|
|
return applyForceFieldsJob.Schedule(solver.abstraction.colliderContacts.count, 64, inputDeps);
|
|
}
|
|
|
|
public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
|
|
{
|
|
var world = ObiColliderWorld.GetInstance();
|
|
|
|
var generateColliderContactsJob = new GenerateContactsJob
|
|
{
|
|
colliderGrid = grid,
|
|
gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
|
|
|
|
positions = solver.positions,
|
|
orientations = solver.orientations,
|
|
velocities = solver.velocities,
|
|
invMasses = solver.invMasses,
|
|
radii = solver.principalRadii,
|
|
filters = solver.filters,
|
|
particleMaterialIndices = solver.collisionMaterials,
|
|
|
|
simplices = solver.simplices,
|
|
simplexCounts = solver.simplexCounts,
|
|
simplexBounds = solver.simplexBounds,
|
|
|
|
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
|
|
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
|
|
rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
|
|
collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
|
|
bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
|
|
|
|
contactPairQueue = contactPairQueue.AsParallelWriter(),
|
|
colliderTypeCounts = colliderTypeCounts,
|
|
|
|
solverToWorld = solver.solverToWorld,
|
|
deltaTime = deltaTime,
|
|
parameters = solver.abstraction.parameters
|
|
};
|
|
|
|
inputDeps = generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
|
|
|
|
var prefixSumJob = new PrefixSumJob
|
|
{
|
|
array = colliderTypeCounts,
|
|
sum = contactOffsetsPerType
|
|
};
|
|
inputDeps = prefixSumJob.Schedule(inputDeps);
|
|
|
|
var sortPairsJob = new SortContactPairsByShape
|
|
{
|
|
contactPairQueue = contactPairQueue,
|
|
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
|
|
start = contactOffsetsPerType,
|
|
count = colliderTypeCounts,
|
|
contactPairs = contactPairs
|
|
};
|
|
inputDeps = sortPairsJob.Schedule(inputDeps);
|
|
|
|
inputDeps.Complete();
|
|
|
|
inputDeps = BurstSphere.GenerateContacts(world,solver,contactPairs,colliderContactQueue,contactOffsetsPerType,deltaTime,inputDeps);
|
|
inputDeps = BurstBox.GenerateContacts(world,solver,contactPairs,colliderContactQueue, contactOffsetsPerType,deltaTime,inputDeps);
|
|
inputDeps = BurstCapsule.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
|
|
inputDeps = BurstDistanceField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
|
|
inputDeps = BurstTriangleMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
|
|
inputDeps = BurstHeightField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
|
|
inputDeps = BurstEdgeMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
|
|
|
|
return inputDeps;
|
|
}
|
|
|
|
}
|
|
}
|
|
#endif
|