public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime)
{
var generateParticleContactsJob = new ParticleGrid.GenerateParticleParticleContactsJob
{
grid = grid,
gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
positions = solver.positions,
orientations = solver.orientations,
restPositions = solver.restPositions,
velocities = solver.velocities,
invMasses = solver.invMasses,
radii = solver.principalRadii,
fluidRadii = solver.smoothingRadii,
phases = solver.phases,
particleMaterialIndices = solver.abstraction.collisionMaterials.AsNativeArray <int>(),
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
contactsQueue = particleContactQueue.AsParallelWriter(),
fluidInteractionsQueue = fluidInteractionQueue.AsParallelWriter(),
dt = deltaTime
};
return(generateParticleContactsJob.Schedule(grid.CellCount, 2));
}
/// <summary>
/// Prepares all solvers to begin simulating a new physics step. This involves
/// caching some particle data for interpolation, performing collision detection, among other things.
/// </summary>
/// <param name="stepDeltaTime"> Duration (in seconds) of the next step.</param>
protected void BeginStep(float stepDeltaTime)
{
using (m_BeginStepPerfMarker.Auto())
{
// Update colliders right before collision detection:
ObiColliderWorld.GetInstance().UpdateColliders();
ObiColliderWorld.GetInstance().UpdateRigidbodies(solvers, stepDeltaTime);
ObiColliderWorld.GetInstance().UpdateWorld(stepDeltaTime);
List <IObiJobHandle> handles = new List <IObiJobHandle>();
// Kick off all solver jobs:
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
handles.Add(solver.BeginStep(stepDeltaTime));
}
}
// wait for all solver jobs to complete:
foreach (IObiJobHandle handle in handles)
{
if (handle != null)
{
handle.Complete();
}
}
}
}
public override JobHandle Evaluate(JobHandle inputDeps, float deltaTime)
{
var projectConstraints = new PinConstraintsBatchJob()
{
particleIndices = particleIndices,
colliderIndices = colliderIndices,
offsets = offsets,
stiffnesses = stiffnesses,
restDarboux = restDarbouxVectors,
lambdas = lambdas.Reinterpret <float, float4>(),
positions = solverImplementation.positions,
invMasses = solverImplementation.invMasses,
orientations = solverImplementation.orientations,
invRotationalMasses = solverImplementation.invRotationalMasses,
shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray <BurstColliderShape>(),
transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray <BurstAffineTransform>(),
rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray <BurstRigidbody>(),
rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray <float4>(),
rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray <float4>(),
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
orientationDeltas = solverImplementation.orientationDeltas,
orientationCounts = solverImplementation.orientationConstraintCounts,
inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
deltaTime = deltaTime,
activeConstraintCount = m_ActiveConstraintCount
};
return(projectConstraints.Schedule(inputDeps));
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
{
var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
var projectConstraints = new ParticleCollisionConstraintsBatchJob()
{
positions = solverImplementation.positions,
orientations = solverImplementation.orientations,
invMasses = solverImplementation.invMasses,
radii = solverImplementation.principalRadii,
particleMaterialIndices = solverImplementation.collisionMaterials,
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
simplices = solverImplementation.simplices,
simplexCounts = solverImplementation.simplexCounts,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
batchData = batchData,
constraintParameters = parameters,
solverParameters = solverImplementation.abstraction.parameters,
gravity = new float4(solverImplementation.abstraction.parameters.gravity, 0),
substepTime = substepTime,
};
int batchCount = batchData.isLast ? batchData.workItemCount : 1;
return(projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps));
}
public void UpdateWorld(float deltaTime)
{
var world = ObiColliderWorld.GetInstance();
var identifyMoving = new IdentifyMovingColliders
{
movingColliders = movingColliders.AsParallelWriter(),
shapes = world.colliderShapes.AsNativeArray <BurstColliderShape>(cellSpans.count),
rigidbodies = world.rigidbodies.AsNativeArray <BurstRigidbody>(),
collisionMaterials = world.collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
bounds = world.colliderAabbs.AsNativeArray <BurstAabb>(cellSpans.count),
cellIndices = cellSpans.AsNativeArray <BurstCellSpan>(),
colliderCount = colliderCount,
dt = deltaTime
};
JobHandle movingHandle = identifyMoving.Schedule(cellSpans.count, 128);
var updateMoving = new UpdateMovingColliders
{
movingColliders = movingColliders,
grid = grid,
colliderCount = colliderCount
};
updateMoving.Schedule(movingHandle).Complete();
// remove tail from the current spans array:
if (colliderCount < cellSpans.count)
{
cellSpans.count -= cellSpans.count - colliderCount;
}
}
public override bool UpdateIfNeeded()
{
CapsuleCollider capsule = collider as CapsuleCollider;
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.Capsule;
shape.phase = source.Phase;
shape.flags = capsule.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = capsule.contactOffset + source.Thickness;
shape.center = capsule.center;
shape.size = new Vector4(capsule.radius, capsule.height, capsule.direction, 0);
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(capsule.bounds, shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(capsule.transform);
world.colliderTransforms[index] = trfm;
return(true);
}
public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
{
var updateContacts = new UpdateParticleContactsJob()
{
prevPositions = solverImplementation.prevPositions,
prevOrientations = solverImplementation.prevOrientations,
velocities = solverImplementation.velocities,
radii = solverImplementation.principalRadii,
invMasses = solverImplementation.invMasses,
invInertiaTensors = solverImplementation.invInertiaTensors,
simplices = solverImplementation.simplices,
simplexCounts = solverImplementation.simplexCounts,
particleMaterialIndices = solverImplementation.collisionMaterials,
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
batchData = batchData
};
int batchCount = batchData.isLast ? batchData.workItemCount : 1;
return(updateContacts.Schedule(batchData.workItemCount, batchCount, inputDeps));
}
/// <summary>
/// Advances the simulation a given amount of time. Note that once BeginStep has been called,
/// Substep can be called multiple times.
/// </summary>
/// <param name="stepDeltaTime"> Duration (in seconds) of the substep.</param>
protected void Substep(float substepDeltaTime)
{
using (m_SubstepPerfMarker.Auto())
{
// Necessary when using multiple substeps:
ObiColliderWorld.GetInstance().UpdateWorld();
// Grab rigidbody info:
ObiColliderWorld.GetInstance().UpdateRigidbodies(solvers);
List <IObiJobHandle> handles = new List <IObiJobHandle>();
// Kick off all solver jobs:
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
handles.Add(solver.Substep(substepDeltaTime));
}
}
// wait for all solver jobs to complete:
foreach (IObiJobHandle handle in handles)
{
if (handle != null)
{
handle.Complete();
}
}
// Update rigidbody velocities:
ObiColliderWorld.GetInstance().UpdateRigidbodyVelocities(solvers);
}
}
public override JobHandle Evaluate(JobHandle inputDeps, float deltaTime)
{
if (!((BurstSolverImpl)constraints.solver).particleContacts.IsCreated)
{
return(inputDeps);
}
var projectConstraints = new ParticleFrictionConstraintsBatchJob()
{
positions = solverImplementation.positions,
prevPositions = solverImplementation.prevPositions,
orientations = solverImplementation.orientations,
prevOrientations = solverImplementation.prevOrientations,
invMasses = solverImplementation.invMasses,
invInertiaTensors = solverImplementation.invInertiaTensors,
radii = solverImplementation.principalRadii,
particleMaterialIndices = solverImplementation.collisionMaterials,
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
orientationDeltas = solverImplementation.orientationDeltas,
orientationCounts = solverImplementation.orientationConstraintCounts,
contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
batchData = batchData,
maxDepenetrationVelocity = solverAbstraction.parameters.maxDepenetration,
dt = deltaTime,
};
int batchCount = batchData.isLast ? batchData.workItemCount : 1;
return(projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps));
}
public override bool UpdateIfNeeded()
{
BoxCollider2D box = collider as BoxCollider2D;
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// update collider:
var shape = world.colliderShapes[index];
shape.is2D = 1;
shape.type = ColliderShape.ShapeType.Box;
shape.phase = source.Phase;
shape.flags = box.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = source.Thickness;
shape.center = box.offset;
shape.size = box.size;
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(box.bounds, shape.contactOffset, true);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(box.transform, true);
world.colliderTransforms[index] = trfm;
return(false);
}
public override JobHandle Evaluate(JobHandle inputDeps, float deltaTime)
{
var projectConstraints = new CollisionConstraintsBatchJob()
{
positions = solverImplementation.positions,
prevPositions = solverImplementation.prevPositions,
invMasses = solverImplementation.invMasses,
radii = solverImplementation.principalRadii,
particleMaterialIndices = solverImplementation.collisionMaterials,
shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray <BurstColliderShape>(),
transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray <BurstAffineTransform>(),
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray <BurstRigidbody>(),
rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray <float4>(),
rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray <float4>(),
deltas = solverAbstraction.positionDeltas.AsNativeArray <float4>(),
counts = solverAbstraction.positionConstraintCounts.AsNativeArray <int>(),
contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
solverParameters = solverAbstraction.parameters,
dt = deltaTime,
};
return(projectConstraints.Schedule(inputDeps));
}
public override JobHandle Initialize(JobHandle inputDeps, float deltaTime)
{
var updateContacts = new UpdateContactsJob()
{
prevPositions = solverImplementation.prevPositions,
prevOrientations = solverImplementation.prevOrientations,
velocities = solverImplementation.velocities,
radii = solverImplementation.principalRadii,
invMasses = solverImplementation.invMasses,
invInertiaTensors = solverImplementation.invInertiaTensors,
particleMaterialIndices = solverImplementation.collisionMaterials,
collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray <BurstColliderShape>(),
transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray <BurstAffineTransform>(),
rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray <BurstRigidbody>(),
rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray <float4>(),
rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray <float4>(),
contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
};
return(updateContacts.Schedule(((BurstSolverImpl)constraints.solver).colliderContacts.Length, 128, inputDeps));
}
public override bool UpdateIfNeeded()
{
bool trigger = false;
if (collider is Collider)
{
trigger = ((Collider)collider).isTrigger;
}
else if (collider is Collider2D)
{
trigger = ((Collider2D)collider).isTrigger;
}
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// decrease reference count of current handle if the df data it points to is different
// than the df used by the collider:
if (handle != null && handle.owner != distanceField)
{
if (handle.Dereference())
{
world.DestroyDistanceField(handle);
}
}
if (handle == null || !handle.isValid)
{
handle = world.GetOrCreateDistanceField(distanceField);
handle.Reference();
}
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.SignedDistanceField;
shape.phase = source.Phase;
shape.flags = trigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = source.Thickness;
shape.dataIndex = handle.index;
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(distanceField.FieldBounds.Transform(source.transform.localToWorldMatrix), shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(source.transform);
world.colliderTransforms[index] = trfm;
return(true);
}
public void UpdateMaterial()
{
var world = ObiColliderWorld.GetInstance();
var mat = world.collisionMaterials[handle.index];
mat.FromObiCollisionMaterial(this);
world.collisionMaterials[handle.index] = mat;
}
public override void UpdateIfNeeded(float stepTime)
{
UpdateKinematicVelocities(stepTime);
var rb = ObiColliderWorld.GetInstance().rigidbodies[handle.index];
rb.FromRigidbody(unityRigidbody, kinematicForParticles);
ObiColliderWorld.GetInstance().rigidbodies[handle.index] = rb;
}
public void OnDestroy()
{
ObiColliderWorld.GetInstance().UnregisterImplementation(this);
grid.Dispose();
movingColliders.Dispose();
colliderContactQueue.Dispose();
cellSpans.Dispose();
}
public override void Destroy()
{
base.Destroy();
if (handle != null && handle.Dereference())
{
ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
}
}
public override void Destroy()
{
base.Destroy();
if (handle != null && handle.Dereference())
{
ObiColliderWorld.GetInstance().DestroyHeightField(handle);
}
}
public static ObiColliderWorld GetInstance()
{
if (instance == null)
{
instance = new ObiColliderWorld();
instance.Initialize();
}
return(instance);
}
public void Awake()
{
this.grid = new NativeMultilevelGrid <int>(1000, Allocator.Persistent);
this.movingColliders = new NativeQueue <MovingCollider>(Allocator.Persistent);
this.colliderContactQueue = new NativeQueue <BurstContact>(Allocator.Persistent);
this.cellSpans = new ObiNativeCellSpanList();
ObiColliderWorld.GetInstance().RegisterImplementation(this);
}
protected void RemoveCollider()
{
ObiColliderWorld.GetInstance().DestroyCollider(shapeHandle);
// Destroy shape tracker:
if (tracker != null)
{
tracker.Destroy();
tracker = null;
}
}
public override void UpdateIfNeeded()
{
var rb = ObiColliderWorld.GetInstance().rigidbodies[handle.index];
velocity = rb.velocity = unityRigidbody.velocity;
angularVelocity = rb.angularVelocity = unityRigidbody.angularVelocity;
rb.FromRigidbody(unityRigidbody, false);
ObiColliderWorld.GetInstance().rigidbodies[handle.index] = rb;
}
public override bool UpdateIfNeeded()
{
SphereCollider sphere = collider as SphereCollider;
// TODO: testing for changes here is not needed? all we do is set variables...
//if (sphere != null && (sphere.radius != radius || sphere.center != center))
{
//radius = sphere.radius;
//center = sphere.center;
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.Sphere;
shape.phase = source.Phase;
shape.flags = sphere.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = source.Thickness;
shape.center = sphere.center;
shape.size = Vector3.one * sphere.radius;
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(sphere.bounds, shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(sphere.transform);
world.colliderTransforms[index] = trfm;
/*var shape = source.colliderWorld.colliderShapes[source.shapeHandle.index];
*
* // update the transform
* shape.Set(collider as Collider, source.Phase, source.Thickness);
*
* // update the shape:
* shape.SetSphere(sphere.center, sphere.radius);
*
* source.colliderWorld.colliderShapes[source.shapeHandle.index] = shape;*/
//adaptor.Set(center, radius);
//Oni.UpdateShape(oniShape,ref adaptor);
return(true);
}
//return false;
}
public override bool UpdateIfNeeded()
{
MeshCollider meshCollider = collider as MeshCollider;
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// decrease reference count of current handle if the mesh data it points to is different
// than the mesh used by the collider:
if (handle != null && handle.owner != meshCollider.sharedMesh)
{
if (handle.Dereference())
{
world.DestroyTriangleMesh(handle);
}
}
// get or create the mesh:
if (handle == null || !handle.isValid)
{
handle = world.GetOrCreateTriangleMesh(meshCollider.sharedMesh);
handle.Reference();
}
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.TriangleMesh;
shape.phase = source.Phase;
shape.flags = meshCollider.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = source.Thickness;
shape.dataIndex = handle.index;
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(meshCollider.bounds, shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(meshCollider.transform);
world.colliderTransforms[index] = trfm;
return(true);
}
protected void AddCollider()
{
Component unityCollider = GetUnityCollider(ref wasUnityColliderEnabled);
if (unityCollider != null && (shapeHandle == null || !shapeHandle.isValid))
{
shapeHandle = ObiColliderWorld.GetInstance().CreateCollider();
shapeHandle.owner = this;
// Create shape tracker:
CreateTracker();
// Create rigidbody if necessary, and link ourselves to it:
CreateRigidbody();
}
}
protected void CreateMaterialIfNeeded()
{
if (materialHandle == null || !materialHandle.isValid)
{
var world = ObiColliderWorld.GetInstance();
// create the material:
materialHandle = world.CreateCollisionMaterial();
materialHandle.owner = this;
// copy material data from this material (use materialHandle instead of handle, to not retrigger CreateMaterialIfNeeded)
var mat = world.collisionMaterials[materialHandle.index];
mat.FromObiCollisionMaterial(this);
world.collisionMaterials[materialHandle.index] = mat;
}
}
public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime)
{
var world = ObiColliderWorld.GetInstance();
var generateColliderContactsJob = new GenerateContactsJob
{
particleGrid = solver.particleGrid.grid,
colliderGrid = grid,
gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
positions = solver.positions,
orientations = solver.orientations,
velocities = solver.velocities,
invMasses = solver.invMasses,
radii = solver.principalRadii,
phases = solver.phases,
particleMaterialIndices = solver.collisionMaterials,
transforms = world.colliderTransforms.AsNativeArray <BurstAffineTransform>(),
shapes = world.colliderShapes.AsNativeArray <BurstColliderShape>(),
bounds = world.colliderAabbs.AsNativeArray <BurstAabb>(),
collisionMaterials = world.collisionMaterials.AsNativeArray <BurstCollisionMaterial>(),
triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray <TriangleMeshHeader>(),
bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray <BIHNode>(),
triangles = world.triangleMeshContainer.triangles.AsNativeArray <Triangle>(),
vertices = world.triangleMeshContainer.vertices.AsNativeArray <float3>(),
edgeMeshHeaders = world.edgeMeshContainer.headers.AsNativeArray <EdgeMeshHeader>(),
edgeBihNodes = world.edgeMeshContainer.bihNodes.AsNativeArray <BIHNode>(),
edges = world.edgeMeshContainer.edges.AsNativeArray <Edge>(),
edgeVertices = world.edgeMeshContainer.vertices.AsNativeArray <float2>(),
distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray <DistanceFieldHeader>(),
dfNodes = world.distanceFieldContainer.dfNodes.AsNativeArray <BurstDFNode>(),
heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray <HeightFieldHeader>(),
heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray <float>(),
contactsQueue = colliderContactQueue.AsParallelWriter(),
solverToWorld = solver.solverToWorld,
worldToSolver = solver.worldToSolver,
is2D = solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D,
deltaTime = deltaTime
};
return(generateColliderContactsJob.Schedule(solver.particleGrid.grid.CellCount, 16));
}
/// <summary>
/// Wraps up the current simulation step. This will trigger contact callbacks.
/// </summary>
protected void EndStep(float substepDeltaTime)
{
using (m_EndStepPerfMarker.Auto())
{
// End step: Invokes collision callbacks and notifies actors that the solver step has ended.
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
solver.EndStep(substepDeltaTime);
}
}
}
// Write back rigidbody velocity deltas:
ObiColliderWorld.GetInstance().UpdateRigidbodyVelocities(solvers);
}
public override bool UpdateIfNeeded()
{
TerrainCollider terrain = collider as TerrainCollider;
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
int resolution = terrain.terrainData.heightmapResolution;
// get or create the heightfield:
if (handle == null || !handle.isValid)
{
handle = world.GetOrCreateHeightField(terrain.terrainData);
handle.Reference();
}
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.Heightmap;
shape.phase = source.Phase;
shape.flags = terrain.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = terrain.contactOffset + source.Thickness;
shape.dataIndex = handle.index;
shape.size = terrain.terrainData.size;
shape.center = new Vector4(resolution, resolution, resolution, resolution);
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(terrain.bounds, shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(terrain.transform);
world.colliderTransforms[index] = trfm;
return(true);
}
public override bool UpdateIfNeeded()
{
BoxCollider box = collider as BoxCollider;
/*if (box != null && (box.size != size || box.center != center)){
* size = box.size;
* center = box.center;
* adaptor.Set(center, size);
* Oni.UpdateShape(oniShape,ref adaptor);
* return true;
* }*/
// retrieve collision world and index:
var world = ObiColliderWorld.GetInstance();
int index = source.Handle.index;
// update collider:
var shape = world.colliderShapes[index];
shape.type = ColliderShape.ShapeType.Box;
shape.phase = source.Phase;
shape.flags = box.isTrigger ? 1 : 0;
shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
shape.contactOffset = box.contactOffset + source.Thickness;
shape.center = box.center;
shape.size = box.size;
world.colliderShapes[index] = shape;
// update bounds:
var aabb = world.colliderAabbs[index];
aabb.FromBounds(box.bounds, shape.contactOffset);
world.colliderAabbs[index] = aabb;
// update transform:
var trfm = world.colliderTransforms[index];
trfm.FromTransform(box.transform);
world.colliderTransforms[index] = trfm;
return(true);
}
