예제 #1
0
        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);
        }
예제 #2
0
        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);
        }
예제 #3
0
        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);
        }
예제 #4
0
        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);
                            }
                        }
                    }
                }
            }
        }