public static void Contacts(int particleIndex, int colliderIndex, float4 particlePosition, quaternion particleOrientation, float4 particleVelocity, float4 particleRadii, float deltaTime, ref NativeArray <BIHNode> bihNodes, ref NativeArray <Edge> edges, ref NativeArray <float2> vertices, EdgeMeshHeader header, ref BurstAffineTransform colliderToSolver, ref BurstColliderShape shape, NativeQueue <BurstContact> .ParallelWriter contacts) { float4 colliderSpacePosition = colliderToSolver.InverseTransformPoint(particlePosition); float4 colliderSpaceVel = colliderToSolver.InverseTransformVector(particleVelocity * deltaTime); BurstAabb particleBounds = new BurstAabb(colliderSpacePosition, colliderSpacePosition + colliderSpaceVel, particleRadii.x / math.cmax(colliderToSolver.scale)); colliderSpacePosition *= colliderToSolver.scale; BIHTraverse(particleIndex, colliderIndex, colliderSpacePosition, particleOrientation, colliderSpaceVel, particleRadii, ref particleBounds, 0, ref bihNodes, ref edges, ref vertices, ref header, ref colliderToSolver, ref shape, contacts); }
public static void Contacts(int particleIndex, int colliderIndex, float4 position, quaternion orientation, float4 radii, ref NativeArray <BurstDFNode> dfNodes, DistanceFieldHeader header, BurstAffineTransform colliderToSolver, BurstColliderShape shape, NativeQueue <BurstContact> .ParallelWriter contacts) { float4 pos = colliderToSolver.InverseTransformPoint(position); BurstContact c = new BurstContact { entityA = particleIndex, entityB = colliderIndex, }; float4 sample = DFTraverse(pos, 0, ref header, ref dfNodes); c.normal = new float4(math.normalize(sample.xyz), 0); c.point = pos - c.normal * sample[3]; c.normal = colliderToSolver.TransformDirection(c.normal); c.point = colliderToSolver.TransformPoint(c.point); c.distance = sample[3] * math.cmax(colliderToSolver.scale.xyz) - (shape.contactOffset + BurstMath.EllipsoidRadius(c.normal, orientation, radii.xyz)); contacts.Enqueue(c); }
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint) { point = transform.InverseTransformPoint(point); float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary); float4 normal = math.normalizesafe(point - nearestPoint); // flip the contact normal if it points below ground: BurstMath.OneSidedNormal(triNormal, ref normal); projectedPoint.point = transform.TransformPoint(nearestPoint + normal * shape.contactOffset); projectedPoint.normal = transform.TransformDirection(normal); }
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint) { point = transform.InverseTransformPoint(point); if (shape.is2D != 0) { point[2] = 0; } var header = distanceFieldHeaders[shape.dataIndex]; float4 sample = DFTraverse(point, 0, in header, in dfNodes); float4 normal = new float4(math.normalize(sample.xyz), 0); projectedPoint.point = transform.TransformPoint(point - normal * (sample[3] - shape.contactOffset)); projectedPoint.normal = transform.TransformDirection(normal); }
public static void Contacts(int particleIndex, int colliderIndex, float4 position, quaternion orientation, float4 radii, ref NativeArray <float> heightMap, HeightFieldHeader header, BurstAffineTransform colliderToSolver, BurstColliderShape shape, NativeQueue <BurstContact> .ParallelWriter contacts) { float4 pos = colliderToSolver.InverseTransformPoint(position); BurstContact c = new BurstContact { entityA = particleIndex, entityB = colliderIndex, }; int resolutionU = (int)shape.center.x; int resolutionV = (int)shape.center.y; // calculate terrain cell size: float cellWidth = shape.size.x / (resolutionU - 1); float cellHeight = shape.size.z / (resolutionV - 1); // calculate particle bounds min/max cells: int2 min = new int2((int)math.floor((pos[0] - radii[0]) / cellWidth), (int)math.floor((pos[2] - radii[0]) / cellHeight)); int2 max = new int2((int)math.floor((pos[0] + radii[0]) / cellWidth), (int)math.floor((pos[2] + radii[0]) / cellHeight)); for (int su = min[0]; su <= max[0]; ++su) { if (su >= 0 && su < resolutionU - 1) { for (int sv = min[1]; sv <= max[1]; ++sv) { if (sv >= 0 && sv < resolutionV - 1) { // calculate neighbor sample indices: int csu1 = math.clamp(su + 1, 0, resolutionU - 1); int csv1 = math.clamp(sv + 1, 0, resolutionV - 1); // sample heights: float h1 = heightMap[header.firstSample + sv * resolutionU + su] * shape.size.y; float h2 = heightMap[header.firstSample + sv * resolutionU + csu1] * shape.size.y; float h3 = heightMap[header.firstSample + csv1 * resolutionU + su] * shape.size.y; float h4 = heightMap[header.firstSample + csv1 * resolutionU + csu1] * shape.size.y; float min_x = su * shape.size.x / (resolutionU - 1); float max_x = csu1 * shape.size.x / (resolutionU - 1); float min_z = sv * shape.size.z / (resolutionV - 1); float max_z = csv1 * shape.size.z / (resolutionV - 1); // contact with the first triangle: float4 pointOnTri = BurstMath.NearestPointOnTri(new float4(min_x, h3, max_z, 0), new float4(max_x, h4, max_z, 0), new float4(min_x, h1, min_z, 0), pos); float4 normal = pos - pointOnTri; float distance = math.length(normal); if (distance > BurstMath.epsilon) { c.normal = normal / distance; c.point = pointOnTri; c.normal = colliderToSolver.TransformDirection(c.normal); c.point = colliderToSolver.TransformPoint(c.point); c.distance = distance - (shape.contactOffset + BurstMath.EllipsoidRadius(c.normal, orientation, radii.xyz)); contacts.Enqueue(c); } // contact with the second triangle: pointOnTri = BurstMath.NearestPointOnTri(new float4(min_x, h1, min_z, 0), new float4(max_x, h4, max_z, 0), new float4(max_x, h2, min_z, 0), pos); normal = pos - pointOnTri; distance = math.length(normal); if (distance > BurstMath.epsilon) { c.normal = normal / distance; c.point = pointOnTri; c.normal = colliderToSolver.TransformDirection(c.normal); c.point = colliderToSolver.TransformPoint(c.point); c.distance = distance - (shape.contactOffset + BurstMath.EllipsoidRadius(c.normal, orientation, radii.xyz)); contacts.Enqueue(c); } } } } } }