73 lines
3.2 KiB
C#
73 lines
3.2 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using Unity.Collections;
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using Unity.Mathematics;
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namespace Obi
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{
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public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction, IBurstCollider
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{
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public BurstColliderShape shape;
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public BurstAffineTransform colliderToSolver;
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public float dt;
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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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float4 center = shape.center * colliderToSolver.scale;
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point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
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if (shape.is2D != 0)
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point[2] = 0;
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int direction = (int)shape.size.z;
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float radius = shape.size.x * math.max(colliderToSolver.scale[(direction + 1) % 3],
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colliderToSolver.scale[(direction + 2) % 3]);
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float height = math.max(radius, shape.size.y * 0.5f * colliderToSolver.scale[direction]);
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float4 halfVector = float4.zero;
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halfVector[direction] = height - radius;
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float4 centerLine = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
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float4 centerToPoint = point - centerLine;
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float distanceToCenter = math.length(centerToPoint);
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float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
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projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + shape.contactOffset));
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projectedPoint.normal = colliderToSolver.TransformDirection(normal);
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}
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public void Contacts(int colliderIndex,
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int rigidbodyIndex,
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NativeArray<BurstRigidbody> rigidbodies,
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NativeArray<float4> positions,
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NativeArray<quaternion> orientations,
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NativeArray<float4> velocities,
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NativeArray<float4> radii,
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NativeArray<int> simplices,
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in BurstAabb simplexBounds,
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int simplexIndex,
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int simplexStart,
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int simplexSize,
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NativeQueue<BurstContact>.ParallelWriter contacts,
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int optimizationIterations,
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float optimizationTolerance)
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{
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var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
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float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
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var colliderPoint = BurstLocalOptimization.Optimize<BurstCapsule>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
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co.pointB = colliderPoint.point;
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co.normal = colliderPoint.normal;
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co.pointA = simplexBary;
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contacts.Enqueue(co);
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}
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}
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}
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#endif |