public void Execute(int i)
{
float3 pos = predPositions[i].Value;
if (pos.x < minBounds.x + radius)
{
pos.x = minBounds.x + radius;
}
else if (pos.x > maxBounds.x - radius)
{
pos.x = maxBounds.x - radius;
}
if (pos.y < minBounds.y + radius)
{
pos.y = minBounds.y + radius;
}
else if (pos.y > maxBounds.y - radius)
{
pos.y = maxBounds.y - radius;
}
if (pos.z < minBounds.z + radius)
{
pos.z = minBounds.z + radius;
}
else if (pos.z > maxBounds.z - radius)
{
pos.z = maxBounds.z - radius;
}
predPositions[i] = new PredictedPositions {
Value = pos
};
}
public void Execute()
{
float radiusSum = radius + radius;
float radiusSumSq = radiusSum * radiusSum;
for (int idA = 0; idA < length; idA++)
{
float3 posA = positions[idA].Value;
for (int idB = idA + 1; idB < length; idB++)
{
float3 posB = positions[idB].Value;
float3 dir = posA - posB;
float distanceSq = math.lengthSquared(dir);
if (distanceSq > radiusSumSq || distanceSq <= float.Epsilon)
{
continue;
}
float distance = math.sqrt(distanceSq);
float massCorr = 0.5f;
float3 dP = (distance - radiusSum) * (dir / distance) * stiffness * massCorr;
positions[idA] = new PredictedPositions {
Value = posA - dP
};
positions[idB] = new PredictedPositions {
Value = posB + dP
};
}
}
}
public void Execute(int i)
{
float3 pos = predPositions[i].Value + deltaPositions[i].Delta;
predPositions[i] = new PredictedPositions {
Value = pos
};
}
public void Execute(int i)
{
if (deltaPositions[i].ConstraintsCount > 0)
{
float3 pos = predPositions[i].Value + (deltaPositions[i].Delta / deltaPositions[i].ConstraintsCount);
predPositions[i] = new PredictedPositions {
Value = pos
};
}
}
public void Execute(int i)
{
if (massesInv[i].Value != 0.0)
{
float3 vel = velocities[i].Value + acceleration * dt;
vel *= damping;
float3 predPos = positions[i].Value + vel * dt;
velocities[i] = new Velocity {
Value = vel
};
predPositions[i] = new PredictedPositions {
Value = predPos
};
}
}
public void Execute()
{
float radiusSum = radius + radius;
float radiusSumSq = radiusSum * radiusSum;
for (int idA = 0; idA < length; idA++)
{
float3 posA = positions[idA].Value;
int3 pos = GridHash.Quantize(posA, cellRadius);
int hash = GridHash.Hash(pos);
NativeMultiHashMapIterator <int> iterator;
int idB; // neighbourId
var found = hashMap.TryGetFirstValue(hash, out idB, out iterator);
while (found)
{
float3 posB = positions[idB].Value;
float3 dir = posA - posB;
float distanceSq = math.lengthSquared(dir);
if (idA == idB || distanceSq > radiusSumSq || distanceSq <= float.Epsilon)
{
found = hashMap.TryGetNextValue(out idB, ref iterator);
continue;
}
float distance = math.sqrt(distanceSq);
float massCorr = 0.5f;
float3 dP = (distance - radiusSum) * (dir / distance) * stiffness * massCorr;
positions[idA] = new PredictedPositions {
Value = posA - dP
};
positions[idB] = new PredictedPositions {
Value = posB + dP
};
found = hashMap.TryGetNextValue(out idB, ref iterator);
}
}
}
public void Execute()
{
for (int idA = 0; idA < length; idA++)
{
float3 predPosA = predPositions[idA].Value;
float massInvA = massesInv[idA].Value;
NativeArray <DistanceConstraintUni> cnstrsA = distanceConstraints[idA];
float3 delta = new float3(0, 0, 0);
int cnstrCount = 0;
for (int i = 0; i < 34; i++)
{
DistanceConstraintUni cnstr = cnstrsA[i];
if (cnstr.otherId == -1)
{
break;
}
float3 predPosB = predPositions[cnstr.otherId].Value;
float massInvB = massesInv[cnstr.otherId].Value;
float3 normal = predPosA - predPosB;
float length = math.length(normal.xyz);
float invMass = massInvA + massInvB;
if (invMass <= math.epsilon_normal || length <= math.epsilon_normal)
{
continue;
}
float3 dP = (1.0f / invMass) * (length - cnstr.restLength) * (normal / length) * stiffness;
delta -= dP * massInvA;
cnstrCount++;
}
predPositions[idA] = new PredictedPositions {
Value = predPosA + delta / cnstrCount
};
}
}