public void Execute(int workItemIndex)
{
int start, end;
batchData.GetConstraintRange(workItemIndex, out start, out end);
for (int i = start; i < end; ++i)
{
int simplexStartA = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSizeA);
int simplexStartB = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyB, out int simplexSizeB);
for (int j = 0; j < simplexSizeA; ++j)
{
int particleIndex = simplices[simplexStartA + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
}
for (int j = 0; j < simplexSizeB; ++j)
{
int particleIndex = simplices[simplexStartB + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
}
}
}
public void Execute()
{
for (int i = 0; i < contacts.Length; ++i)
{
BurstConstraintsBatchImpl.ApplyPositionDelta(contacts[i].entityA, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(contacts[i].entityA, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
}
}
public void Execute()
{
for (int i = 0; i < contacts.Length; ++i)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSize);
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
}
}
}
public void Execute(int workItemIndex)
{
int start, end;
batchData.GetConstraintRange(workItemIndex, out start, out end);
for (int i = start; i < end; ++i)
{
BurstConstraintsBatchImpl.ApplyPositionDelta(contacts[i].entityA, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyPositionDelta(contacts[i].entityB, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(contacts[i].entityA, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
BurstConstraintsBatchImpl.ApplyOrientationDelta(contacts[i].entityB, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
}
}
public void Execute(int workItemIndex)
{
int start, end;
batchData.GetConstraintRange(workItemIndex, out start, out end);
for (int i = start; i < end; ++i)
{
var contact = contacts[i];
int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
// Combine collision materials:
BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStartA], simplices[simplexStartB]);
float4 simplexPositionA = float4.zero, simplexPositionB = float4.zero;
float simplexRadiusA = 0, simplexRadiusB = 0;
for (int j = 0; j < simplexSizeA; ++j)
{
int particleIndex = simplices[simplexStartA + j];
simplexPositionA += positions[particleIndex] * contact.pointA[j];
simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
}
for (int j = 0; j < simplexSizeB; ++j)
{
int particleIndex = simplices[simplexStartB + j];
simplexPositionB += positions[particleIndex] * contact.pointB[j];
simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
}
float4 posA = simplexPositionA - contact.normal * simplexRadiusA;
float4 posB = simplexPositionB + contact.normal * simplexRadiusB;
// adhesion:
float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, substepTime);
// depenetration:
lambda += contact.SolvePenetration(posA, posB, solverParameters.maxDepenetration * substepTime);
// Apply normal impulse to both particles (w/ shock propagation):
if (math.abs(lambda) > BurstMath.epsilon)
{
float shock = solverParameters.shockPropagation * math.dot(contact.normal, math.normalizesafe(gravity));
float4 delta = lambda * contact.normal;
float baryScale = BurstMath.BaryScale(contact.pointA);
for (int j = 0; j < simplexSizeA; ++j)
{
int particleIndex = simplices[simplexStartA + j];
deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j] * baryScale * (1 - shock);
counts[particleIndex]++;
}
baryScale = BurstMath.BaryScale(contact.pointB);
for (int j = 0; j < simplexSizeB; ++j)
{
int particleIndex = simplices[simplexStartB + j];
deltas[particleIndex] -= delta * invMasses[particleIndex] * contact.pointB[j] * baryScale * (1 + shock);
counts[particleIndex]++;
}
}
// Apply position deltas immediately, if using sequential evaluation:
if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
{
for (int j = 0; j < simplexSizeA; ++j)
{
int particleIndex = simplices[simplexStartA + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
}
for (int j = 0; j < simplexSizeB; ++j)
{
int particleIndex = simplices[simplexStartB + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
}
}
contacts[i] = contact;
}
}
public void Execute()
{
for (int i = 0; i < contacts.Length; ++i)
{
var contact = contacts[i];
int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
int colliderIndex = contact.bodyB;
// Skip contacts involving triggers:
if (shapes[colliderIndex].flags > 0)
{
continue;
}
// Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
// Combine collision materials (use material from first particle in simplex)
BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
// Get relative velocity at contact point.
// As we do not consider true ellipses for collision detection, particle contact points are never off-axis.
// So particle angular velocity does not contribute to normal impulses, and we can skip it.
float4 simplexPosition = float4.zero;
float4 simplexPrevPosition = float4.zero;
float simplexRadius = 0;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
simplexPosition += positions[particleIndex] * contact.pointA[j];
simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
simplexRadius += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
}
// project position to the end of the full step:
float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substeps);
posA += -contact.normal * simplexRadius;
float4 posB = contact.pointB;
if (rigidbodyIndex >= 0)
{
posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame) * stepTime;
}
// adhesion:
float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, stepTime);
// depenetration:
lambda += contact.SolvePenetration(posA, posB, solverParameters.maxDepenetration * stepTime);
// Apply normal impulse to both simplex and rigidbody:
if (math.abs(lambda) > BurstMath.epsilon)
{
float4 delta = lambda * contact.normal * BurstMath.BaryScale(contact.pointA) / substeps;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j];
counts[particleIndex]++;
}
// Apply position deltas immediately, if using sequential evaluation:
if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
{
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
}
}
if (rigidbodyIndex >= 0)
{
BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / stepTime * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
}
}
contacts[i] = contact;
}
}
