void Update()
{
Profiler.BeginSample("Schedule Softbody Work", this);
int batchSize = 8;
softbodyData.friction = friction;
//Transform the points into world space
JobHandle localToWorldHandle = new ToWorldSpaceJob()
{
localToWorld = transform.localToWorldMatrix,
bodyVerts = softbodyData.bodyVerts
}.Schedule(originalVerts.Length, batchSize);
//Physics - Verlet Integration
JobHandle verletHandle = new VerletIntegrateJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
scaledGravity = softbodyData.scaledGravity
}.Schedule(originalVerts.Length, batchSize, dependsOn: localToWorldHandle);
JobHandle previousHandle = verletHandle;
for (int i = 0; i < solverIterations; i++)
{
//First, ensure that the surface area is what we think it is
JobHandle applyConstraints;
if (parallelConstraints)
{
JobHandle calculateConstraints = new CalculateDistanceConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements,
constraintsArray = softbodyData.connectionGraph
}.Schedule(originalVerts.Length, batchSize, dependsOn: previousHandle);
applyConstraints = new ApplyAccumulatedConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements
}.Schedule(originalVerts.Length, batchSize, dependsOn: calculateConstraints);
}
else
{
JobHandle accumulateDistances = new AccumulateDistanceConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements,
constraintsArray = softbodyData.constraintsArray
}.Schedule(dependsOn: previousHandle);
applyConstraints = new ApplyAccumulatedConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements
}.Schedule(originalVerts.Length, batchSize, dependsOn: accumulateDistances);
}
//Next, set the volume of the soft body
JobHandle calculateNormals;
if (parallelNormals)
{
calculateNormals = new GatherNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
vertexConnections = softbodyData.triangleGraph,
bodyNormals = softbodyData.bodyNormals
}.Schedule(originalVerts.Length, batchSize, dependsOn: applyConstraints);
}
else
{
JobHandle accumulateNormals = new AccumulateNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
bodyNormals = softbodyData.bodyNormals
}.Schedule(dependsOn: applyConstraints);
calculateNormals = new NormalizeNormalsJob()
{
bodyNormals = softbodyData.bodyNormals
}.Schedule(originalVerts.Length, batchSize, dependsOn: accumulateNormals);
}
JobHandle calculateDilationDistance;
if (useAreaVolumeAccumulator)
{
JobHandle accumulateDilationDistance = new SurfaceAreaAndVolumeAccumulatorJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
volumeAccumulator = softbodyData.volumeAccumulator,
areaAccumulator = softbodyData.areaAccumulator
}.Schedule(softbodyData.bodyTriangles.Length, batchSize, dependsOn: calculateNormals);
calculateDilationDistance = new CalculateDilationJob()
{
volumeAccumulator = softbodyData.volumeAccumulator,
areaAccumulator = softbodyData.areaAccumulator,
initialVolume = softbodyData.initialVolume * inflationAmount,
initialSurfaceArea = softbodyData.initialSurfaceArea,
dilationDistance = softbodyData.dilationDistance
}.Schedule(dependsOn: accumulateDilationDistance);
}
else
{
JobHandle accumulateDilationDistance = new AccumulateSurfaceAreaAndVolumeJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
triangleVolumes = softbodyData.triangleVolumes,
triangleSurfaceAreas = softbodyData.triangleSurfaceAreas
}.Schedule(softbodyData.bodyTriangles.Length, batchSize, dependsOn: calculateNormals);
//THIS IS THE LAST BIG ONE
calculateDilationDistance = new CalculateSurfaceAreaAndVolumeJob()
{
triangleVolumes = softbodyData.triangleVolumes,
triangleSurfaceAreas = softbodyData.triangleSurfaceAreas,
initialVolume = softbodyData.initialVolume * inflationAmount,
initialSurfaceArea = softbodyData.initialSurfaceArea,
dilationDistance = softbodyData.dilationDistance
}.Schedule(dependsOn: accumulateDilationDistance);
}
previousHandle = new ExtrudeNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyNormals = softbodyData.bodyNormals,
dilationDistance = softbodyData.dilationDistance
}.Schedule(originalVerts.Length, batchSize, dependsOn: calculateDilationDistance);
}
//Also collide with other softbodies
if (collideWithOtherSoftbodies)
{
foreach (SoftbodyJobified softbody in s_softBodies)
{
if (softbody != this)
{
Vector3 midPoint = Vector3.Lerp(transform.position, softbody.transform.position, (radius / softbody.radius) * 0.5f);
previousHandle = new VoronoiCollideJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
planePos = midPoint,
planeNormal = (transform.position - midPoint).normalized,
friction = 0f,
velocity = new Vector3(0f, 0f, 0f)
}.Schedule(originalVerts.Length, batchSize, dependsOn: previousHandle);
}
}
}
//Prepare a batch of raycast commands
JobHandle raycastPrepareHandle = new RaycastPrepareJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
preCollisionVerts = softbodyData.preCollisionVerts,
raycasts = softbodyData.raycasts,
bodyNormals = softbodyData.bodyNormals,
penetrationDepth = 0.5f * softbodyData.radius
}.Schedule(originalVerts.Length, batchSize, dependsOn: previousHandle);
// Schedule the batch of raycasts
JobHandle batchRaycastHandle = RaycastCommand.ScheduleBatch(softbodyData.raycasts, softbodyData.raycastHits, batchSize, raycastPrepareHandle);
//Apply the results of those raycasts
JobHandle raycastCollisionHandle = new RaycastCollisionJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
raycastHits = softbodyData.raycastHits,
bodyNormals = softbodyData.bodyNormals,
friction = softbodyData.friction
}.Schedule(originalVerts.Length, batchSize, dependsOn: batchRaycastHandle);
Profiler.EndSample();
raycastCollisionHandle.Complete();
//Calculate the impulses on PhysX objects
float invDT = 1 / Time.deltaTime; float vertexMass = (mass / softbodyData.bodyVerts.Length);
for (int i = 0; i < softbodyData.raycastHits.Length; i++)
{
Rigidbody collidingBody;
if ((collidingBody = softbodyData.raycastHits[i].rigidbody) != null && !collidingBody.isKinematic)
{
Vector3 preCollisionVelocity = (softbodyData.preCollisionVerts[i] - softbodyData.prevBodyVerts[i]) * invDT;
Vector3 postCollisionVelocity = (softbodyData.bodyVerts[i] - softbodyData.prevBodyVerts[i]) * invDT;
Vector3 deltaMomentum = (postCollisionVelocity - preCollisionVelocity) * vertexMass;
Vector3 netForce = -deltaMomentum * invDT;
collidingBody.AddForceAtPosition(netForce, softbodyData.bodyVerts[i], ForceMode.Force);
}
}
//Calculate the the position and rotation of the body
for (int i = 0; i < softbodyData.bodyVerts.Length; i++)
{
softbodyData.kabschVerts[i] = new Vector4(
softbodyData.bodyVerts[i].x,
softbodyData.bodyVerts[i].y,
softbodyData.bodyVerts[i].z, 1f);
}
;
softbodyData.kabschVerts.CopyTo(kabschVertsArray);
Matrix4x4 toWorldSpace = kabschSolver.SolveKabsch(originalVerts, kabschVertsArray, transformFollowsRotation);
transform.position = toWorldSpace.GetVector3();
transform.rotation = toWorldSpace.GetQuaternion();
//Move the points into local space for rendering
JobHandle toLocalHandle = new ToLocalSpaceJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyNormals = softbodyData.bodyNormals,
renderNormals = softbodyData.renderNormals,
worldToLocal = transform.worldToLocalMatrix
}.Schedule(originalVerts.Length, batchSize);
toLocalHandle.Complete();
//Graphics
softbodyData.bodyVerts.CopyTo(bodyVertsArray);
softbodyData.renderNormals.CopyTo(renderNormalsArray);
bodyMesh.vertices = bodyVertsArray;
bodyMesh.normals = renderNormalsArray;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}
void Update()
{
Profiler.BeginSample("Schedule Softbody Work", this);
int batchSize = 16;
//Transform the points into world space
JobHandle localToWorldHandle = new ToWorldSpaceJob()
{
localToWorld = transform.localToWorldMatrix,
bodyVerts = softbodyData.bodyVerts
}.Schedule(originalVerts.Length, batchSize);
//Physics - Verlet Integration
JobHandle verletHandle = new VerletIntegrateJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
scaledGravity = softbodyData.scaledGravity
}.Schedule(originalVerts.Length, batchSize, dependsOn: localToWorldHandle);
JobHandle previousHandle = verletHandle;
for (int i = 0; i < solverIterations; i++)
{
//First, ensure that the surface area is what we think it is
JobHandle applyConstraints;
if (parallelConstraints)
{
JobHandle calculateConstraints = new CalculateDistanceConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements,
constraintsArray = softbodyData.connectionGraph
}.Schedule(originalVerts.Length, batchSize, dependsOn: previousHandle);
applyConstraints = new ApplyAccumulatedConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements
}.Schedule(originalVerts.Length, batchSize, dependsOn: calculateConstraints);
}
else
{
JobHandle accumulateDistances = new AccumulateDistanceConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements,
constraintsArray = softbodyData.constraintsArray
}.Schedule(dependsOn: previousHandle);
applyConstraints = new ApplyAccumulatedConstraintsJob()
{
bodyVerts = softbodyData.bodyVerts,
accumulatedDisplacements = softbodyData.accumulatedDisplacements
}.Schedule(originalVerts.Length, batchSize, dependsOn: accumulateDistances);
}
//Next, set the volume of the soft body
JobHandle calculateNormals;
if (parallelNormals)
{
calculateNormals = new GatherNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
vertexConnections = softbodyData.triangleGraph,
bodyNormals = softbodyData.bodyNormals
}.Schedule(originalVerts.Length, batchSize, dependsOn: applyConstraints);
}
else
{
JobHandle accumulateNormals = new AccumulateNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
bodyNormals = softbodyData.bodyNormals
}.Schedule(dependsOn: applyConstraints);
calculateNormals = new NormalizeNormalsJob()
{
bodyNormals = softbodyData.bodyNormals
}.Schedule(originalVerts.Length, batchSize, dependsOn: accumulateNormals);
}
JobHandle calculateDilationDistance;
if (useAreaVolumeAccumulator)
{
JobHandle accumulateDilationDistance = new SurfaceAreaAndVolumeAccumulatorJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
volumeAccumulator = softbodyData.volumeAccumulator,
areaAccumulator = softbodyData.areaAccumulator
}.Schedule(softbodyData.bodyTriangles.Length, batchSize, dependsOn: calculateNormals);
calculateDilationDistance = new CalculateDilationJob()
{
volumeAccumulator = softbodyData.volumeAccumulator,
areaAccumulator = softbodyData.areaAccumulator,
initialVolume = softbodyData.initialVolume * inflationAmount,
initialSurfaceArea = softbodyData.initialSurfaceArea,
dilationDistance = softbodyData.dilationDistance
}.Schedule(dependsOn: accumulateDilationDistance);
}
else
{
JobHandle accumulateDilationDistance = new AccumulateSurfaceAreaAndVolumeJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyTriangles = softbodyData.bodyTriangles,
triangleVolumes = softbodyData.triangleVolumes,
triangleSurfaceAreas = softbodyData.triangleSurfaceAreas
}.Schedule(softbodyData.bodyTriangles.Length, batchSize, dependsOn: calculateNormals);
//THIS IS THE LAST BIG ONE
calculateDilationDistance = new CalculateSurfaceAreaAndVolumeJob()
{
triangleVolumes = softbodyData.triangleVolumes,
triangleSurfaceAreas = softbodyData.triangleSurfaceAreas,
initialVolume = softbodyData.initialVolume * inflationAmount,
initialSurfaceArea = softbodyData.initialSurfaceArea,
dilationDistance = softbodyData.dilationDistance
}.Schedule(dependsOn: accumulateDilationDistance);
}
previousHandle = new ExtrudeNormalsJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyNormals = softbodyData.bodyNormals,
dilationDistance = softbodyData.dilationDistance
}.Schedule(originalVerts.Length, batchSize, dependsOn: calculateDilationDistance);
}
//Also sneak in a ground plane here:
JobHandle groundPlaneHandle = new GroundCollideJob()
{
bodyVerts = softbodyData.bodyVerts,
prevBodyVerts = softbodyData.prevBodyVerts,
groundPlanePos = groundPlane.position,
groundPlaneNormal = -groundPlane.forward
}.Schedule(originalVerts.Length, batchSize, dependsOn: previousHandle);
Profiler.EndSample();
groundPlaneHandle.Complete();
//Calculate the the position and rotation of the body
for (int i = 0; i < softbodyData.bodyVerts.Length; i++)
{
softbodyData.kabschVerts[i] = new Vector4(
softbodyData.bodyVerts[i].x,
softbodyData.bodyVerts[i].y,
softbodyData.bodyVerts[i].z, 1f);
}
;
softbodyData.kabschVerts.CopyTo(kabschVertsArray);
Matrix4x4 toWorldSpace = kabschSolver.SolveKabsch(originalVerts, kabschVertsArray, transformFollowsRotation);
transform.position = toWorldSpace.GetVector3();
transform.rotation = toWorldSpace.GetQuaternion();
//Move the points into local space for rendering
JobHandle toLocalHandle = new ToLocalSpaceJob()
{
bodyVerts = softbodyData.bodyVerts,
bodyNormals = softbodyData.bodyNormals,
renderNormals = softbodyData.renderNormals,
worldToLocal = transform.worldToLocalMatrix
}.Schedule(originalVerts.Length, batchSize);
toLocalHandle.Complete();
//Graphics
softbodyData.bodyVerts.CopyTo(bodyVertsArray);
softbodyData.renderNormals.CopyTo(renderNormalsArray);
bodyMesh.vertices = bodyVertsArray;
bodyMesh.normals = renderNormalsArray;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}