public void Execute(int index)
{
var position = this.positions[index];
var predictPosition = this.positions[index];
var spheres = collidersGroup.spheres;
var boxes = collidersGroup.boxes;
var capsules = collidersGroup.capsules;
for (var i = 0; i < spheres.Length; i++)
{
var s = spheres[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
for (var i = 0; i < boxes.Length; i++)
{
var s = boxes[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
for (var i = 0; i < capsules.Length; i++)
{
var s = capsules[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
DisableCollisionConstraint(index);
}
/// <summary>
/// 计算每个质点的质量。 算法为三角面面积乘以密度，再平分到每个顶点
/// </summary>
private void BuildMasses()
{
var indices = _meshModifier.indices;
var vertices = _meshModifier.vertices;
_masses = new NativeList <float>(this.vertexCount, Allocator.Persistent);
_masses.Resize(this.vertexCount, NativeArrayOptions.ClearMemory);
for (var i = 0; i < indices.Length / 3; i++)
{
var offset = i * 3;
var i0 = indices[offset];
var i1 = indices[offset + 1];
var i2 = indices[offset + 2];
var v0 = vertices[i0];
var v1 = vertices[i1];
var v2 = vertices[i2];
var area = IntersectUtil.GetArea(v0, v1, v2);
var m = area * _setting.density;
var m3 = m / 3;
_masses[i0] += m3;
_masses[i1] += m3;
_masses[i2] += m3;
}
}
public override bool GetClosestSurfacePoint(float3 p, out ConcatInfo concatInfo)
{
return(IntersectUtil.GetClosestSurfacePoint(p, desc, out concatInfo));
}
public override bool PointInside(float3 p)
{
return(IntersectUtil.PointInside(p, desc));
}
