// Iterate over all colliders and store those whose cell span has changed.
public void Execute(int i)
{
float size = bounds[i].AverageAxisLength();
int level = NativeMultilevelGrid <int> .GridLevelForSize(size);
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(level);
// get new collider bounds cell coordinates:
BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(bounds[i].min.xyz, cellSize), level),
new int4(GridHash.Quantize(bounds[i].max.xyz, cellSize), level));
// if the collider is 2D, project it to the z = 0 cells.
if (colliders[i].is2D != 0)
{
newSpan.min[2] = 0;
newSpan.max[2] = 0;
}
// if the collider is at the tail (removed), we will only remove it from its current cellspan.
// if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
if (i >= colliderCount || cellIndices[i] != newSpan)
{
// Add the collider to the list of moving colliders:
movingColliders.Enqueue(new MovingCollider()
{
oldSpan = cellIndices[i],
newSpan = newSpan,
entity = i
});
// Update previous coords:
cellIndices[i] = newSpan;
}
}
public ParticleGrid()
{
this.grid = new NativeMultilevelGrid <int>(1000, Allocator.Persistent);
this.movingParticles = new NativeQueue <MovingEntity>(Allocator.Persistent);
this.particleContactQueue = new NativeQueue <BurstContact>(Allocator.Persistent);
this.fluidInteractionQueue = new NativeQueue <FluidInteraction>(Allocator.Persistent);
this.previousActiveParticles = new NativeArray <int>(0, Allocator.Persistent);
}
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);
}
private void IntraLevelSearch(int cellIndex)
{
int4 cellCoords = grid.usedCells[cellIndex].Coords;
// neighboring cells in the current level:
for (int i = 0; i < 13; ++i)
{
int4 neighborCellCoords = new int4(cellCoords.xyz + GridHash.cellOffsets3D[i], cellCoords.w);
int neighborCellIndex;
if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
{
InterCellSearch(cellIndex, neighborCellIndex);
}
}
// neighboring cells in levels above the current one:
int levelIndex = gridLevels.IndexOf <int, int>(cellCoords.w);
if (levelIndex >= 0)
{
levelIndex++;
for (; levelIndex < gridLevels.Length; ++levelIndex)
{
int level = gridLevels[levelIndex];
// calculate index of parent cell in parent level:
int4 parentCellCoords = NativeMultilevelGrid <int> .GetParentCellCoords(cellCoords, level);
// search in all neighbouring cells:
for (int x = -1; x <= 1; ++x)
{
for (int y = -1; y <= 1; ++y)
{
for (int z = -1; z <= 1; ++z)
{
int4 neighborCellCoords = parentCellCoords + new int4(x, y, z, 0);
int neighborCellIndex;
if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
{
InterCellSearch(cellIndex, neighborCellIndex);
}
}
}
}
}
}
}
// Iterate over all colliders and store those whose cell span has changed.
public void Execute(int i)
{
BurstAabb velocityBounds = bounds[i];
// Expand bounds by rigidbody's linear velocity:
if (shapes[i].rigidbodyIndex >= 0)
{
velocityBounds.Sweep(rigidbodies[shapes[i].rigidbodyIndex].velocity * dt);
}
// Expand bounds by collision material's stick distance:
if (shapes[i].materialIndex >= 0)
{
velocityBounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
}
float size = velocityBounds.AverageAxisLength();
int level = NativeMultilevelGrid <int> .GridLevelForSize(size);
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(level);
// get new collider bounds cell coordinates:
BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(velocityBounds.min.xyz, cellSize), level),
new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
// if the collider is 2D, project it to the z = 0 cells.
if (shapes[i].is2D != 0)
{
newSpan.min[2] = 0;
newSpan.max[2] = 0;
}
// if the collider is at the tail (removed), we will only remove it from its current cellspan.
// if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
if (i >= colliderCount || cellIndices[i] != newSpan)
{
// Add the collider to the list of moving colliders:
movingColliders.Enqueue(new MovingCollider()
{
oldSpan = cellIndices[i],
newSpan = newSpan,
entity = i
});
// Update previous coords:
cellIndices[i] = newSpan;
}
}
public void GetCells(ObiNativeAabbList cells)
{
if (cells.count == grid.usedCells.Length)
{
for (int i = 0; i < grid.usedCells.Length; ++i)
{
var cell = grid.usedCells[i];
float size = NativeMultilevelGrid <int> .CellSizeOfLevel(cell.Coords.w);
float4 min = (float4)cell.Coords * size;
min[3] = 0;
cells[i] = new Aabb(min, min + new float4(size, size, size, 0));
}
}
}
public void Execute(int i)
{
int level = NativeMultilevelGrid <int> .GridLevelForSize(simplexBounds[i].AverageAxisLength());
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(level);
// get new particle cell coordinate:
int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
// if the solver is 2D, project the particle to the z = 0 cell.
if (is2D)
{
newCellCoord[2] = 0;
}
cellCoords[i] = newCellCoord;
}
public void Execute(int index)
{
int i = activeParticles[index];
// Find this particle's stick distance:
float stickDistance = 0;
if (particleMaterialIndices[i] >= 0)
{
stickDistance = collisionMaterials[particleMaterialIndices[i]].stickDistance;
}
// Use it (together with radius and fluid radius) to calculate its size in the grid.
float size = radii[i].x * 2.2f + stickDistance;
size = math.max(size, fluidRadii[i] * 1.1f);
int level = NativeMultilevelGrid <int> .GridLevelForSize(size);
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(level);
// get new particle cell coordinate:
int4 newCellCoord = new int4(GridHash.Quantize(positions[i].xyz, cellSize), level);
// if the solver is 2D, project the particle to the z = 0 cell.
if (is2D)
{
newCellCoord[2] = 0;
}
// if the current cell is different from the current one, the particle has changed cell.
if (!newCellCoord.Equals(cellCoord[i]))
{
movingParticles.Enqueue(new MovingEntity()
{
oldCellCoord = cellCoord[i],
newCellCoord = newCellCoord,
entity = i
});
cellCoord[i] = newCellCoord;
}
}
private void GetCandidatesForBoundsAtLevel(NativeList <int> candidates, BurstAabb cellBounds, int level, bool is2D = false, int maxSize = 10)
{
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(level);
int3 minCell = GridHash.Quantize(cellBounds.min.xyz, cellSize);
int3 maxCell = GridHash.Quantize(cellBounds.max.xyz, cellSize);
maxCell = minCell + math.min(maxCell - minCell, new int3(maxSize));
int3 size = maxCell - minCell + new int3(1);
int cellIndex;
for (int x = minCell[0]; x <= maxCell[0]; ++x)
{
for (int y = minCell[1]; y <= maxCell[1]; ++y)
{
// for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
// (which are inserted in cells with z == 0) are accounted for in the broadphase.
if (is2D)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, level), out cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
for (int z = minCell[2]; z <= maxCell[2]; ++z)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, z, level), out cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
}
}
}
public void Execute(int p)
{
neighbourCount[p] = 0;
float4 diffuseProperty = float4.zero;
float kernelSum = 0;
int offsetCount = mode2D ? 4 : 8;
float4 solverDiffusePosition = inertialFrame.frame.InverseTransformPoint(diffusePositions[p]);
for (int k = 0; k < gridLevels.Length; ++k)
{
int l = gridLevels[k];
float radius = NativeMultilevelGrid <int> .CellSizeOfLevel(l);
float4 cellCoords = math.floor(solverDiffusePosition / radius);
cellCoords[3] = 0;
if (mode2D)
{
cellCoords[2] = 0;
}
float4 posInCell = solverDiffusePosition - (cellCoords * radius + new float4(radius * 0.5f));
int4 quadrant = (int4)math.sign(posInCell);
quadrant[3] = l;
for (int i = 0; i < offsetCount; ++i)
{
int cellIndex;
if (grid.TryGetCellIndex((int4)cellCoords + cellOffsets[i] * quadrant, out cellIndex))
{
var cell = grid.usedCells[cellIndex];
for (int n = 0; n < cell.Length; ++n)
{
float4 r = solverDiffusePosition - positions[cell[n]];
r[3] = 0;
if (mode2D)
{
r[2] = 0;
}
float d = math.length(r);
if (d <= radius)
{
float w = densityKernel.W(d, radius);
kernelSum += w;
diffuseProperty += properties[cell[n]] * w;
neighbourCount[p]++;
}
}
}
}
}
if (kernelSum > BurstMath.epsilon)
{
diffuseProperties[p] = diffuseProperty / kernelSum;
}
}
public ParticleGrid()
{
this.grid = new NativeMultilevelGrid <int>(1000, Allocator.Persistent);
this.particleContactQueue = new NativeQueue <BurstContact>(Allocator.Persistent);
this.fluidInteractionQueue = new NativeQueue <FluidInteraction>(Allocator.Persistent);
}
public void Execute(int i)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
BurstAabb simplexBoundsSS = simplexBounds[i];
// get all colliders overlapped by the cell bounds, in all grid levels:
BurstAabb simplexBoundsWS = simplexBoundsSS.Transformed(solverToWorld);
NativeList <int> candidates = new NativeList <int>(Allocator.Temp);
// max size of the particle bounds in cells:
int3 maxSize = new int3(10);
bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
for (int l = 0; l < gridLevels.Length; ++l)
{
float cellSize = NativeMultilevelGrid <int> .CellSizeOfLevel(gridLevels[l]);
int3 minCell = GridHash.Quantize(simplexBoundsWS.min.xyz, cellSize);
int3 maxCell = GridHash.Quantize(simplexBoundsWS.max.xyz, cellSize);
maxCell = minCell + math.min(maxCell - minCell, maxSize);
for (int x = minCell[0]; x <= maxCell[0]; ++x)
{
for (int y = minCell[1]; y <= maxCell[1]; ++y)
{
// for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
// (which are inserted in cells with z == 0) are accounted for in the broadphase.
if (is2D)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, gridLevels[l]), out int cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
for (int z = minCell[2]; z <= maxCell[2]; ++z)
{
if (colliderGrid.TryGetCellIndex(new int4(x, y, z, gridLevels[l]), out int cellIndex))
{
var colliderCell = colliderGrid.usedCells[cellIndex];
candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
}
}
}
}
}
if (candidates.Length > 0)
{
// make sure each candidate collider only shows up once in the array:
NativeArray <int> uniqueCandidates = candidates.AsArray();
uniqueCandidates.Sort();
int uniqueCount = uniqueCandidates.Unique();
// iterate over candidate colliders, generating contacts for each one
for (int k = 0; k < uniqueCount; ++k)
{
int c = uniqueCandidates[k];
BurstColliderShape shape = shapes[c];
BurstAabb colliderBoundsWS = bounds[c];
// Expand bounds by rigidbody's linear velocity:
if (shape.rigidbodyIndex >= 0)
{
colliderBoundsWS.Sweep(rigidbodies[shape.rigidbodyIndex].velocity * deltaTime);
}
// Expand bounds by collision material's stick distance:
if (shape.materialIndex >= 0)
{
colliderBoundsWS.Expand(collisionMaterials[shape.materialIndex].stickDistance);
}
// check if any simplex particle and the collider have the same phase:
bool samePhase = false;
for (int j = 0; j < simplexSize; ++j)
{
samePhase |= shape.phase == (phases[simplices[simplexStart + j]] & (int)Oni.ParticleFlags.GroupMask);
}
if (!samePhase && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
{
// generate contacts for the collider:
BurstAffineTransform colliderToSolver = worldToSolver * transforms[c];
GenerateContacts(in shape, in colliderToSolver, c, i, simplexStart, simplexSize, simplexBoundsSS);
}
}
}
}