96 lines
3.0 KiB
Plaintext
96 lines
3.0 KiB
Plaintext
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#include "ColliderDefinitions.cginc"
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#include "ContactHandling.cginc"
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#include "Transform.cginc"
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#include "Simplex.cginc"
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#include "Bounds.cginc"
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#include "SolverParameters.cginc"
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#include "Optimization.cginc"
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#pragma kernel GenerateContacts
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StructuredBuffer<float4> positions;
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StructuredBuffer<quaternion> orientations;
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StructuredBuffer<float4> principalRadii;
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StructuredBuffer<float4> velocities;
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StructuredBuffer<int> simplices;
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StructuredBuffer<transform> transforms;
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StructuredBuffer<shape> shapes;
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StructuredBuffer<uint2> contactPairs;
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StructuredBuffer<int> contactOffsetsPerType;
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RWStructuredBuffer<contact> contacts;
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RWStructuredBuffer<uint> dispatchBuffer;
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StructuredBuffer<transform> worldToSolver;
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uint maxContacts;
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struct Sphere : IDistanceFunction
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{
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shape s;
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transform colliderToSolver;
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void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
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{
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float4 center = s.center * colliderToSolver.scale;
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float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
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if (s.is2D())
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pnt[2] = 0;
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float radius = s.size.x * cmax(colliderToSolver.scale.xyz);
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float distanceToCenter = length(pnt);
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float4 normal = pnt / (distanceToCenter + EPSILON);
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projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + normal * (radius + s.contactOffset));
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projectedPoint.normal = colliderToSolver.TransformDirection(normal);
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projectedPoint.bary = float4(1,0,0,0);
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}
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};
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[numthreads(128, 1, 1)]
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void GenerateContacts (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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// entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
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if (i >= dispatchBuffer[11 + 4*SPHERE_SHAPE]) return;
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uint count = contacts.IncrementCounter();
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if (count < maxContacts)
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{
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int firstPair = contactOffsetsPerType[SPHERE_SHAPE];
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int simplexIndex = contactPairs[firstPair + i].x;
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int colliderIndex = contactPairs[firstPair + i].y;
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contact c = (contact)0;
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Sphere sphereShape;
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sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
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sphereShape.s = shapes[colliderIndex];
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int simplexSize;
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int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
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float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
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float4 simplexPoint;
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SurfacePoint surfacePoint = Optimize(sphereShape, positions, orientations, principalRadii,
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simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
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c.pointB = surfacePoint.pos;
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c.normal = surfacePoint.normal * sphereShape.s.isInverted();
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c.pointA = simplexBary;
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c.bodyA = simplexIndex;
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c.bodyB = colliderIndex;
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contacts[count] = c;
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InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
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InterlockedMax(dispatchBuffer[3], count + 1);
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}
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}
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