Exemple #1
0
        public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
        {
            float4 center = shape.center * transform.scale;

            point = transform.InverseTransformPointUnscaled(point) - center;

            if (shape.is2D != 0)
            {
                point[2] = 0;
            }

            int   direction = (int)shape.size.z;
            float radius    = shape.size.x * math.max(transform.scale[(direction + 1) % 3],
                                                      transform.scale[(direction + 2) % 3]);

            float  height     = math.max(radius, shape.size.y * 0.5f * transform.scale[direction]);
            float4 halfVector = float4.zero;

            halfVector[direction] = height - radius;

            float4 centerLine       = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
            float4 centerToPoint    = point - centerLine;
            float  distanceToCenter = math.length(centerToPoint);

            float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);

            projectedPoint.point  = transform.TransformPointUnscaled(center + centerLine + normal * (radius + shape.contactOffset));
            projectedPoint.normal = transform.TransformDirection(normal);
        }
Exemple #2
0
        public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
        {
            switch (simplexSize)
            {
            case 1:
            {
                float4 p1 = positions[simplices[simplexStart]];
                projectedPoint.bary  = new float4(1, 0, 0, 0);
                projectedPoint.point = p1;
            }
            break;

            case 2:
            {
                float4 p1 = positions[simplices[simplexStart]];
                float4 p2 = positions[simplices[simplexStart + 1]];
                BurstMath.NearestPointOnEdge(p1, p2, point, out float mu);
                projectedPoint.bary  = new float4(1 - mu, mu, 0, 0);
                projectedPoint.point = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
            } break;

            case 3:
                projectedPoint.point = BurstMath.NearestPointOnTri(tri, point, out projectedPoint.bary);
                break;
            }

            projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);

            /*float radius1 = radii[simplices[simplexStart]].x;
             * float radius2 = radii[simplices[simplexStart+1]].x;
             *
             * float invLen2 = 1.0f / math.lengthsq(p1 - p2);
             * float dl = (radius1 - radius2) * invLen2;
             * float sl = math.sqrt(1.0f / invLen2 - math.pow(radius1 - radius2, 2)) * math.sqrt(invLen2);
             * float adj_radii1 = radius1 * sl;
             * float adj_radii2 = radius2 * sl;
             *
             * float trange1 = radius1 * dl;
             * float trange2 = 1 + radius2 * dl;
             *
             * float adj_t = (mu - trange1) / (trange2 - trange1);
             * float radius = adj_radii1 + adj_t * (adj_radii2 - adj_radii1);
             *
             * float4 centerToPoint = point - centerLine;
             * float4 normal = centerToPoint / (math.length(centerToPoint) + BurstMath.epsilon);
             *
             * projectedPoint.point = centerLine + normal * radius;
             * projectedPoint.normal = normal;*/
        }
Exemple #3
0
        public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
        {
            point = transform.InverseTransformPointUnscaled(point);

            if (shape.is2D != 0)
            {
                point[2] = 0;
            }

            Edge   t  = edges[header.firstEdge + dataOffset];
            float4 v1 = (new float4(vertices[header.firstVertex + t.i1], 0) + shape.center) * transform.scale;
            float4 v2 = (new float4(vertices[header.firstVertex + t.i2], 0) + shape.center) * transform.scale;

            float4 nearestPoint = BurstMath.NearestPointOnEdge(v1, v2, point, out float mu);
            float4 normal       = math.normalizesafe(point - nearestPoint);

            projectedPoint.normal = transform.TransformDirection(normal);
            projectedPoint.point  = transform.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
        }
Exemple #4
0
        private static void BIHTraverse(int particleIndex,
                                        int colliderIndex,
                                        float4 particlePosition,
                                        quaternion particleOrientation,
                                        float4 particleVelocity,
                                        float4 particleRadii,
                                        ref BurstAabb particleBounds,
                                        int nodeIndex,
                                        ref NativeArray <BIHNode> bihNodes,
                                        ref NativeArray <Edge> edges,
                                        ref NativeArray <float2> vertices,
                                        ref EdgeMeshHeader header,
                                        ref BurstAffineTransform colliderToSolver,
                                        ref BurstColliderShape shape,
                                        NativeQueue <BurstContact> .ParallelWriter contacts)
        {
            var node = bihNodes[header.firstNode + nodeIndex];

            // amount by which we should inflate aabbs:
            float offset = shape.contactOffset + particleRadii.x;

            if (node.firstChild >= 0)
            {
                // visit min node:
                if (particleBounds.min[node.axis] - offset <= node.min)
                {
                    BIHTraverse(particleIndex, colliderIndex,
                                particlePosition, particleOrientation, particleVelocity, particleRadii, ref particleBounds,
                                node.firstChild, ref bihNodes, ref edges, ref vertices, ref header,
                                ref colliderToSolver, ref shape, contacts);
                }

                // visit max node:
                if (particleBounds.max[node.axis] + offset >= node.max)
                {
                    BIHTraverse(particleIndex, colliderIndex,
                                particlePosition, particleOrientation, particleVelocity, particleRadii, ref particleBounds,
                                node.firstChild + 1, ref bihNodes, ref edges, ref vertices, ref header,
                                ref colliderToSolver, ref shape, contacts);
                }
            }
            else
            {
                // precalculate inverse of velocity vector for ray/aabb intersections:
                float4 invDir = math.rcp(particleVelocity);

                // contacts against all triangles:
                for (int i = node.start; i < node.start + node.count; ++i)
                {
                    Edge t = edges[header.firstEdge + i];

                    float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0, 0) * colliderToSolver.scale;
                    float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0, 0) * colliderToSolver.scale;

                    BurstAabb aabb = new BurstAabb(v1, v2, 0.01f);
                    aabb.Expand(new float4(offset));

                    // only generate a contact if the particle trajectory intersects its inflated aabb:
                    if (aabb.IntersectsRay(particlePosition, invDir, true))
                    {
                        float4 point      = BurstMath.NearestPointOnEdge(v1, v2, particlePosition);
                        float4 pointToTri = particlePosition - point;
                        float  distance   = math.length(pointToTri);

                        if (distance > BurstMath.epsilon)
                        {
                            BurstContact c = new BurstContact()
                            {
                                entityA = particleIndex,
                                entityB = colliderIndex,
                                point   = colliderToSolver.TransformPointUnscaled(point),
                                normal  = colliderToSolver.TransformDirection(pointToTri / distance),
                            };

                            c.distance = distance - (shape.contactOffset + BurstMath.EllipsoidRadius(c.normal, particleOrientation, particleRadii.xyz));

                            contacts.Enqueue(c);
                        }
                    }
                }
            }
        }