public void Execute(int index)
{
// public void Executea(int index)
//OYM：获取约束
ConstraintRead *constraint = pConstraintsRead + index;
//OYM：获取约束的节点AB
PointRead *pPointReadA = pReadPoints + constraint->indexA;
PointRead *pPointReadB = pReadPoints + constraint->indexB;
//OYM：任意一点都不能小于极小值
//OYM：if ((WeightA <= EPSILON) && (WeightB <= EPSILON))
//OYM：获取可读写的点A
PointReadWrite *pReadWritePointA = pReadWritePoints + constraint->indexA;
//OYM：获取可读写的点B
PointReadWrite *pReadWritePointB = pReadWritePoints + constraint->indexB;
//OYM：获取约束的朝向
var Direction = pReadWritePointB->position - pReadWritePointA->position;
float Distance = Direction.magnitude;
//OYM：力度等于距离减去长度除以弹性，这个值可以不存在，可以大于1但是没有什么卵用
float Force = (Distance - constraint->length * scale);
//OYM：是否收缩，意味着力大于0
bool IsShrink = Force >= 0.0f;
float ConstraintPower;//OYM：这个值等于
switch (constraint->type)
//OYM：这下面都是一个意思，就是确认约束受到的力，然后根据这个获取杆件约束的属性，计算 ConstraintPower
//OYM：Shrink为杆件全局值，另外两个值为线性插值获取的值，同理Stretch，所以这里大概可以猜中只是一个简单的不大于1的值
{
case ConstraintType.Structural_Vertical:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->structuralShrinkVertical + pPointReadB->structuralShrinkVertical)
: constraint->stretch * (pPointReadA->structuralStretchVertical + pPointReadB->structuralStretchVertical);
break;
case ConstraintType.Structural_Horizontal:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->structuralShrinkHorizontal + pPointReadB->structuralShrinkHorizontal)
: constraint->stretch * (pPointReadA->structuralStretchHorizontal + pPointReadB->structuralStretchHorizontal);
break;
case ConstraintType.Shear:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->shearShrink + pPointReadB->shearShrink)
: constraint->stretch * (pPointReadA->shearStretch + pPointReadB->shearStretch);
break;
case ConstraintType.Bending_Vertical:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->bendingShrinkVertical + pPointReadB->bendingShrinkVertical)
: constraint->stretch * (pPointReadA->bendingStretchVertical + pPointReadB->bendingStretchVertical);
break;
case ConstraintType.Bending_Horizontal:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->bendingShrinkHorizontal + pPointReadB->bendingShrinkHorizontal)
: constraint->stretch * (pPointReadA->bendingStretchHorizontal + pPointReadB->bendingStretchHorizontal);
break;
case ConstraintType.Circumference:
ConstraintPower = IsShrink
? constraint->shrink * (pPointReadA->circumferenceShrink + pPointReadB->circumferenceShrink)
: constraint->stretch * (pPointReadA->circumferenceStretch + pPointReadB->circumferenceStretch);
break;
case ConstraintType.Virtual:
ConstraintPower = 1;
break;
default:
ConstraintPower = 0.0f;
break;
}
//OYM：获取AB点重量比值
float WeightProportion = pPointReadB->weight / (pPointReadA->weight + pPointReadB->weight);
if (ConstraintPower > 0.0f)//OYM：这里不可能小于0吧（除非有人搞破坏）
{
Vector3 Displacement = Direction.normalized * (Force * ConstraintPower);
pReadWritePointA->position += Displacement * WeightProportion;
pReadWritePointA->velocity += Displacement * WeightProportion;
pReadWritePointB->position -= Displacement * (1 - WeightProportion);
pReadWritePointB->velocity -= Displacement * (1 - WeightProportion);
}
if (isCollision && constraint->isCollider)
{
for (int i = 0; i < colliderCount; ++i)
{
ColliderRead *pReadCollider = pReadColliders + i;//OYM：终于到碰撞这里了
if (pReadCollider->isOpen && (pPointReadA->colliderChoice & pReadCollider->colliderChoice) != 0)
{//OYM：collider是否打开,且pPointReadA->colliderChoice是否包含 pReadCollider->colliderChoice的位
ColliderReadWrite *pReadWriteCollider = pReadWriteColliders + i;
ComputeCollider(pReadCollider, pReadWriteCollider, pReadWritePointA, pReadWritePointB, WeightProportion, pPointReadA->friction, pPointReadB->friction);
}
}
}
}
private void ComputeCollider(ColliderRead *pReadCollider, ColliderReadWrite *pReadWriteCollider, PointReadWrite *pReadWritePointA, PointReadWrite *pReadWritePointB, float WeightProportion,
float frictionA, float frictionB)
{
switch (pReadCollider->colliderType)
{
case ColliderType.Sphere:
{
Vector3 pointOnLine = ConstrainToSegment(pReadWriteCollider->position, pReadWritePointA->position, pReadWritePointB->position - pReadWritePointA->position, out float t);
DistributionPower(pointOnLine - pReadWriteCollider->position, pReadCollider->radius, pReadWritePointA, pReadWritePointB, WeightProportion, t, frictionA, frictionB, pReadCollider->collideFunc);
}
break;
case ColliderType.Capsule:
{
SqrComputeNearestPoints(pReadWriteCollider->position, pReadWriteCollider->direction, pReadWritePointA->position, pReadWritePointB->position - pReadWritePointA->position, out _, out float t, out Vector3 pointOnCollider, out Vector3 pointOnLine);
DistributionPower(pointOnLine - pointOnCollider, pReadCollider->radius, pReadWritePointA, pReadWritePointB, WeightProportion, t, frictionA, frictionB, pReadCollider->collideFunc);
}
break;
case ColliderType.OBB:
{
SegmentToOBB(pReadWritePointA->position, pReadWritePointB->position, pReadWriteCollider->position, -pReadCollider->boxSize, pReadCollider->boxSize, Quaternion.Inverse(pReadWriteCollider->normal), out float t1, out float t2);
Vector3 dir = pReadWritePointB->position - pReadWritePointA->position;
t1 = Clamp01(t1);
t2 = Clamp01(t2);
Vector3 pointOnLineA = pReadWritePointA->position + dir * t1;
Vector3 pointOnLineB = pReadWritePointA->position + dir * t2;
bool bHit = t1 >= 0f && t2 > t1 && t2 <= 1.0f;
if (bHit)
{
float t = (t1 + t2) * 0.5f;
Vector3 nearestPoint = pReadWritePointA->position + dir * t;
Vector3 pushout = Quaternion.Inverse(pReadWriteCollider->normal) * (nearestPoint - pReadWriteCollider->position);
float pushoutX = pushout.x > 0 ? pReadCollider->boxSize.x - pushout.x : -pReadCollider->boxSize.x - pushout.x;
float pushoutY = pushout.y > 0 ? pReadCollider->boxSize.y - pushout.y : -pReadCollider->boxSize.y - pushout.y;
float pushoutZ = pushout.z > 0 ? pReadCollider->boxSize.z - pushout.z : -pReadCollider->boxSize.z - pushout.z;
//OYM：这里我自己都不太记得了 XD
//OYM：还是不写Insideblablabla了
if (Abs(pushoutZ) < Abs(pushoutY) && Abs(pushoutZ) < Abs(pushoutX))
{
pushout = pReadWriteCollider->normal * new Vector3(0, 0, pushoutZ);
}
else if (Abs(pushoutY) < Abs(pushoutX) && Abs(pushoutY) < Abs(pushoutZ))
{
pushout = pReadWriteCollider->normal * new Vector3(0, pushoutY, 0);
}
else
{
pushout = pReadWriteCollider->normal * new Vector3(pushoutX, 0, 0);
}
if (pushout.sqrMagnitude != 0)
{
float inverse1Velocity = Vector3.Dot(pushout, pReadWritePointA->velocity) / pushout.sqrMagnitude;
pReadWritePointA->velocity -= pushout * inverse1Velocity;
pReadWritePointB->velocity -= pushout * inverse1Velocity;
pReadWritePointA->velocity *= (1 - frictionA);
pReadWritePointB->velocity *= (1 - frictionB);
//float Propotion = WeightProportion * t / (1 - WeightProportion - t + 2 * WeightProportion * t);
if (WeightProportion > EPSILON)
{
pReadWritePointA->position += (pushout * t);
pReadWritePointA->velocity += (pushout * t);
}
else
{
t = 1;
}
pReadWritePointB->position += (pushout * (1 - t));
pReadWritePointB->velocity += (pushout * (1 - t));
}
}
break;
}
default:
return;
}
}
public void Execute(int index)
{
if (!isCollider)
{
return;
}
float throwTemp;
var pReadWritePoint = pReadWritePoints + index;
var pPointRead = pReadPoints + index;
//OYM：获取可写点
for (int i = 0; i < colliderCount; ++i)
{
ColliderRead * pReadCollider = pReadColliders + i;
ColliderReadWrite *pReadWriteCollider = pReadWriteColliders + i;
//OYM：条件判断
if (pReadCollider->isOpen && (pPointRead->colliderChoice & pReadCollider->colliderChoice) == 0)
{
continue;
}
Vector3 pushout;
float sqrPushout;
switch (pReadCollider->colliderType)
{
case ColliderType.Sphere:
pushout = pReadWritePoint->position - pReadWriteCollider->position;
sqrPushout = pushout.sqrMagnitude;
if (sqrPushout < pReadCollider->radius * pReadCollider->radius)
{
pushout = pushout * (pReadCollider->radius / Mathf.Sqrt(sqrPushout) - 1);
pReadWritePoint->position += pushout;
pReadWritePoint->velocity += pushout;
}
break;
case ColliderType.Capsule:
pushout = pReadWritePoint->position - ConstrainToSegment(pReadWritePoint->position, pReadWriteCollider->position, pReadWriteCollider->direction, out throwTemp);
sqrPushout = pushout.sqrMagnitude;
if (sqrPushout < pReadCollider->radius * pReadCollider->radius)
{
pushout = pushout * (pReadCollider->radius / Mathf.Sqrt(sqrPushout) - 1);
pReadWritePoint->position += pushout;
pReadWritePoint->velocity += pushout;
}
break;
case ColliderType.OBB:
pushout = Quaternion.Inverse(pReadWriteCollider->normal) * (pReadWritePoint->position - pReadWriteCollider->position);
if (-pReadCollider->boxSize.x < pushout.x && pushout.x < pReadCollider->boxSize.x &&
-pReadCollider->boxSize.y < pushout.y && pushout.y < pReadCollider->boxSize.y &&
-pReadCollider->boxSize.z < pushout.z && pushout.z < pReadCollider->boxSize.z
)
{
float pushoutX = pushout.x > 0 ? pReadCollider->boxSize.x - pushout.x : -pReadCollider->boxSize.x - pushout.x;
float pushoutY = pushout.y > 0 ? pReadCollider->boxSize.y - pushout.y : -pReadCollider->boxSize.y - pushout.y;
float pushoutZ = pushout.z > 0 ? pReadCollider->boxSize.z - pushout.z : -pReadCollider->boxSize.z - pushout.z;
if (Abs(pushoutZ) < Abs(pushoutY) && Abs(pushoutZ) < Abs(pushoutX))
{
pushout = pReadWriteCollider->normal * new Vector3(0, 0, pushoutZ);
}
else if (Abs(pushoutY) < Abs(pushoutX) && Abs(pushoutY) < Abs(pushoutZ))
{
pushout = pReadWriteCollider->normal * new Vector3(0, pushoutY, 0);
}
else
{
pushout = pReadWriteCollider->normal * new Vector3(pushoutX, 0, 0);
}
pReadWritePoint->position += pushout;
pReadWritePoint->velocity += pushout;
}
break;
default:
return;
}
}
}
