284 lines
15 KiB
C#
284 lines
15 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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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 Unity.Burst;
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namespace Obi
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{
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public class BurstColliderFrictionConstraintsBatch : BurstConstraintsBatchImpl, IColliderFrictionConstraintsBatchImpl
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{
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public BurstColliderFrictionConstraintsBatch(BurstColliderFrictionConstraints constraints)
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{
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m_Constraints = constraints;
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m_ConstraintType = Oni.ConstraintType.Friction;
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}
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public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
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{
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return inputDeps;
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}
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public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
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{
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if (!((BurstSolverImpl)constraints.solver).colliderContacts.IsCreated)
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return inputDeps;
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var projectConstraints = new FrictionConstraintsBatchJob()
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{
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positions = solverImplementation.positions,
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prevPositions = solverImplementation.prevPositions,
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orientations = solverImplementation.orientations,
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prevOrientations = solverImplementation.prevOrientations,
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invMasses = solverImplementation.invMasses,
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invInertiaTensors = solverImplementation.invInertiaTensors,
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radii = solverImplementation.principalRadii,
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particleMaterialIndices = solverImplementation.collisionMaterials,
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simplices = solverImplementation.simplices,
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simplexCounts = solverImplementation.simplexCounts,
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shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
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transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
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collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
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rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
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rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
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rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
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deltas = solverImplementation.positionDeltas,
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counts = solverImplementation.positionConstraintCounts,
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orientationDeltas = solverImplementation.orientationDeltas,
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orientationCounts = solverImplementation.orientationConstraintCounts,
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contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
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inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
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substeps = substeps,
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stepTime = stepTime,
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substepTime = substepTime
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};
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return projectConstraints.Schedule(inputDeps);
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}
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public override JobHandle Apply(JobHandle inputDeps, float substepTime)
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{
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if (!((BurstSolverImpl)constraints.solver).colliderContacts.IsCreated)
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return inputDeps;
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var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
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var applyConstraints = new ApplyCollisionConstraintsBatchJob()
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{
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contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
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simplices = solverImplementation.simplices,
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simplexCounts = solverImplementation.simplexCounts,
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positions = solverImplementation.positions,
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deltas = solverImplementation.positionDeltas,
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counts = solverImplementation.positionConstraintCounts,
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orientations = solverImplementation.orientations,
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orientationDeltas = solverImplementation.orientationDeltas,
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orientationCounts = solverImplementation.orientationConstraintCounts,
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constraintParameters = parameters
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};
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return applyConstraints.Schedule(inputDeps);
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}
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[BurstCompile]
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public struct FrictionConstraintsBatchJob : IJob
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{
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[ReadOnly] public NativeArray<float4> positions;
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[ReadOnly] public NativeArray<float4> prevPositions;
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[ReadOnly] public NativeArray<quaternion> orientations;
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[ReadOnly] public NativeArray<quaternion> prevOrientations;
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[ReadOnly] public NativeArray<float> invMasses;
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[ReadOnly] public NativeArray<float4> invInertiaTensors;
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[ReadOnly] public NativeArray<float4> radii;
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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<BurstColliderShape> shapes;
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[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
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[ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
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[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
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public NativeArray<float4> rigidbodyLinearDeltas;
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public NativeArray<float4> rigidbodyAngularDeltas;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
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[NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
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public NativeArray<BurstContact> contacts;
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[ReadOnly] public BurstInertialFrame inertialFrame;
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[ReadOnly] public float stepTime;
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[ReadOnly] public float substepTime;
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[ReadOnly] public int substeps;
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public void Execute()
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{
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for (int i = 0; i < contacts.Length; ++i)
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{
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var contact = contacts[i];
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// Get the indices of the particle and collider involved in this contact:
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int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
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int colliderIndex = contact.bodyB;
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// Skip contacts involving triggers:
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if (shapes[colliderIndex].flags > 0)
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continue;
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// Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
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int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
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// Combine collision materials (use material from first particle in simplex)
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BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
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// Calculate relative velocity:
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float4 rA = float4.zero, rB = float4.zero;
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float4 prevPositionA = float4.zero;
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float4 linearVelocityA = float4.zero;
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float4 angularVelocityA = float4.zero;
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float4 invInertiaTensorA = float4.zero;
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quaternion orientationA = new quaternion(0, 0, 0, 0);
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float simplexRadiusA = 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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prevPositionA += prevPositions[particleIndex] * contact.pointA[j];
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linearVelocityA += BurstIntegration.DifferentiateLinear(positions[particleIndex],prevPositions[particleIndex], substepTime) * contact.pointA[j];
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angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
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invInertiaTensorA += invInertiaTensors[particleIndex] * contact.pointA[j];
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orientationA.value += orientations[particleIndex].value * contact.pointA[j];
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simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
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}
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float4 relativeVelocity = linearVelocityA;
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// Add particle angular velocity if rolling contacts are enabled:
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if (material.rollingContacts > 0)
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{
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rA = -contact.normal * simplexRadiusA;
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relativeVelocity += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
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}
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// Subtract rigidbody velocity:
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if (rigidbodyIndex >= 0)
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{
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// Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
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rB = inertialFrame.frame.TransformPoint(contact.pointB) - rigidbodies[rigidbodyIndex].com;
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relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
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}
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// Determine impulse magnitude:
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float2 impulses = contact.SolveFriction(relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
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if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
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{
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float4 tangentImpulse = impulses.x * contact.tangent;
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float4 bitangentImpulse = impulses.y * contact.bitangent;
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float4 totalImpulse = tangentImpulse + bitangentImpulse;
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float baryScale = BurstMath.BaryScale(contact.pointA);
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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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//(tangentImpulse * contact.tangentInvMassA + bitangentImpulse * contact.bitangentInvMassA) * dt;
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deltas[particleIndex] += (tangentImpulse * contact.tangentInvMassA + bitangentImpulse * contact.bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale;
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counts[particleIndex]++;
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}
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if (rigidbodyIndex >= 0)
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{
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BurstMath.ApplyImpulse(rigidbodyIndex, -totalImpulse, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
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}
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// Rolling contacts:
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if (material.rollingContacts > 0)
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{
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// Calculate angular velocity deltas due to friction impulse:
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float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
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float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
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float4 angVelDeltaB = float4.zero;
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// Final angular velocities, after adding the deltas:
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angularVelocityA += angVelDeltaA;
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float4 angularVelocityB = float4.zero;
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// Calculate weights (inverse masses):
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float invMassA = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
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float invMassB = 0;
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if (rigidbodyIndex >= 0)
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{
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angVelDeltaB = math.mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
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angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
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invMassB = math.length(math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, math.normalizesafe(angularVelocityB)));
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}
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// Calculate rolling axis and angular velocity deltas:
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float4 rollAxis = float4.zero;
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float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
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angVelDeltaA += rollAxis * rollingImpulse * invMassA;
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angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
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// Apply orientation delta to particles:
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quaternion orientationDelta = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
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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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quaternion qA = orientationDeltas[particleIndex];
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qA.value += orientationDelta.value;
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orientationDeltas[particleIndex] = qA;
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orientationCounts[particleIndex]++;
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}
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// Apply angular velocity delta to rigidbody:
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if (rigidbodyIndex >= 0)
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{
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float4 angularDelta = rigidbodyAngularDeltas[rigidbodyIndex];
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angularDelta += angVelDeltaB;
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rigidbodyAngularDeltas[rigidbodyIndex] = angularDelta;
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}
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}
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}
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contacts[i] = contact;
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}
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}
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private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
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{
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// Combine collision materials:
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int particleMaterialIndex = particleMaterialIndices[entityA];
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int colliderMaterialIndex = shapes[entityB].materialIndex;
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if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
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return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
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else if (particleMaterialIndex >= 0)
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return collisionMaterials[particleMaterialIndex];
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else if (colliderMaterialIndex >= 0)
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return collisionMaterials[colliderMaterialIndex];
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return new BurstCollisionMaterial();
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}
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}
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}
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}
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#endif |