diff --git a/xiaofang/Assets/Obi.meta b/xiaofang/Assets/Obi.meta
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diff --git a/xiaofang/Assets/Obi/CHANGELOG_rope.txt b/xiaofang/Assets/Obi/CHANGELOG_rope.txt
new file mode 100644
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@@ -0,0 +1,525 @@
+# Change Log
+All notable changes to “Obi - Advanced ropes for Unity” will be documented in this file.
+
+## [7.0.4]
+
+### Fixed
+- Bug that caused inactive particles to still be rendered by ObiInstancedParticleRenderer.
+- Bug that preventing pin constraints' break threshold from working when using the Compute backend. 
+
+## [7.0.3]
+
+### Added
+- Object layer support for all renderers.
+- New "Synchronous Fixed" solver synchronization mode, similar to Obi 6, offers tighter integration with rigidbody physics.
+- New "Tangled Ropes" sample scene.
+
+## [7.0.2]
+
+### Fixed
+- Solvers not placed at the scene origin would result in actors having incorrect motion blur in HDRP.
+- Fixed issue when disabling all solvers and colliders simultaneously: ipon re-enabling them, the colliders would be ignored.
+- Issue withe ElectricalSparks sample scene, ObiRopePrefabPlugger sample component may sometimes thorw an exception dependin on Unity's OnEnable call order.
+- Rope would sometimes disappear when using aerodynamic constraints with zero wind in Burst, due to a math.project returning NaN. Replaced with math.projectsafe.
+
+## [7.0.1]
+
+### Added
+- BakeMesh functionality to ObiRopeChainRenderer, you can now export baked chain meshes.
+- Render layer mask support to all rope renderers and particle renderers.
+
+### Fixed
+- Sceneview mouse lookaround in flytrough mode (right click + drag) didn't work in the path editor in Windows.
+- Having a ObiParticleRenderer with no material applied resulted in a exception in builds due GetInstanceID() returning 0 in editor but raising a nullref exception in the build.
+
+## [7.0]
+
+### Added
+- Compute shader based GPU solver backend.
+- More efficient solver update cycle, that also removes the need to have ObiUpdater components.
+- Aerodynamic constraint support for ObiRope, ObiRod and ObiBone.
+
+### Changed
+- Rendering system is now fully multithreaded, integrated with the solver backend.
+
+### Removed
+- Native library based 'Oni' solver backend.
+- ObiUpdater and all derived classes have been removed.
+
+## [6.5.1]
+
+### Added
+- Support for holes in terrain colliders.
+
+## [6.5]
+
+### Added
+- Improved constraint coloring, which results in much faster blueprint generation.
+
+### Fixed
+- Memory leak when using collision constraints in the Burst backend.
+- Performance drop when using collision constraints in Burst >1.7
+- Incorrect lighting on particles in the blueprint editor, when opening the editor without having previously opened any scene.
+
+## [6.4]
+
+### Added
+- Support for configurable enter play mode (domain and scene reload disabling).
+- Support for in-editor hot reloading.
+- Numerical fields to edit control point position and tangents added to the path editor.
+
+### Changed
+- Better path editor integration using Unity's editor custom tool API.
+- GrapplingHook sample scene now features a hook rope that extends over time, instead of extending instantly.
+- Reduced memory allocation in ObiPathSmoother Decimate() method.
+- Introduced a job handle pool to avoid runtime allocation of handles by both Burst and Oni backends.
+- Constraint padding array in Burst solver has been turned into a member variable instead of allocating anew it every frame.
+- Collision and friction batches are pooled instead of allocated every frame.
+
+### Fixed
+- InvalidOperationException when performing certain spatial queries with jobs debugger enabled in the Burst backend.
+- ObiBone collision category was internally resetting to zero upon pressing play.
+- Particle render mode in blueprint editor wasn't updated every frame under specific circumstances.
+
+## [6.3]
+
+### Added
+- New ObiBone actor, creates a particle-based representation of a bone hierarchy and simulates it using rod constraints.
+- Built-in support for applying solver gravity in world-space.
+
+### Fixed
+- Bug in attachments: prefab modifications were not being applied to the component.
+- Slight reduction in solver memory allocation.
+- Object disposed exception when using contact callbacks with a non-visible solver.
+
+## [6.2]
+
+#IMPORTANT: If updating from an older version, you’ll need to readjust collision filtering in your scenes.
+Phase-based collision filtering has been replaced by mask/categroy based system.
+
+### Added
+- New spatial query API, that allows to perform efficient distance, overlap and raycast queries.
+
+### Changed
+- Collision phase filtering has been replaced by a category/mask system. If you upgrade existing projects to Obi 6.2, you will have to set up categories and masks appropiately.
+
+
+## [6.1]
+
+### Added
+- RopeCutting sample scene, where screen-space line dragged by the user is used to cut multiple 3D ropes.
+- Snake sample scene, where a snake-like character implemented using a rope can be controlled by the user.
+
+### Changed
+- Decreased minimum error in distance fields to 1e-07
+
+### Fixed
+- Bug in Oni backend: collision stickiness resulted in rapid particle separation from the collision surface.
+- Bug that caused NaN velocity assignments to rigidbodies after removing all actors from a solver.
+
+## [6.0.1]
+
+### Fixed
+- Bug in Burst backend, resulting in InvalidOperationException when enabling Burst safety checks.
+- Bug in ObiSolver that caused particleToActor array entries to be null.
+
+## [6.0]
+
+### Added
+- Optional simplex-based surface collion pipeline for more accurate collision detection/response.
+- Predictive variable-step constraint solving that makes syncing Unity's physics no longer necessary when using substeps.
+- Amount of CCD is now adjustable per-solver.
+- Collision margin is now adjustable per-solver.
+- Bend and bend/twist constraints now support plasticity.
+- One-sided collision detection between particles. Particles with one-sided collision detection will always project penetrating particles to the side defined by their associated normal.
+
+### Fixed
+- Bug in dynamic particle attachments that would case colliders parented under a solver to lose their attachments upon enabling/reenabling a solver. 
+
+### Changed
+- Contacts "particle" and "other" have been renamed to "bodyA" and "bodyB". bodyB might be a simplex or collider index, depending on the contact type.To access
+particle indices from simplex indices, use the solver.simplices array.
+
+## [5.6.2]
+
+### Fixed
+- Missed collisions using certain meshes for MeshColliders, due to a bug in bounding interval hierarchy generation.
+- Corrected orientation error in the first particle of rods, when there's multiple rods in a solver.
+- Corrected rendering error in rods, when there's multiple rods in a solver.
+
+## [5.6.1]
+
+### Fixed
+- Bug in Burst backend: solver bounding box size was typically underestimated.
+- Bug in Burst backend: when using volume constraints: "InvalidOperationException: The NativeContainer ApplyVolumeConstraintsBatchJob.particleIndices has not been assigned or constructed"
+- Bug in Burst backend: not releasing native arrays when empty solvers -with zero actors in them- are present in the scene.
+- Bug in Oni backend: volume constraints not working properly when multiple actors are present in the solver.
+- Fixed crash when using ObiLateUpdater or ObiLateFixedUpdater with the Burst backend.
+- Reduced GC allocation in dynamic particle attachments.
+- Fixed bug in Skin constraints, that caused them to fail restricting particle movement in certain circumstances.
+
+### Changed
+- Updated Oni iOS library to XCode 12.1. Make sure to use XCode 12.1 or up to build for iOS when using the Oni backend.
+- ObiKinematicVelocities component has been removed. Its functionality is now built into the engine, and automatically used for kinematic rigidbodies.
+
+### Added
+- Sample ObiContactDispatcher component, that will call custom enter/stay/exit contact events.
+- Support for multiple solvers in sample script in ObiContactGrabber.
+- Added util LookAroundCamera component.
+
+## [5.6]
+
+### Added
+- Faster SDF generation.
+- New sample scene.
+
+### Fixed
+- Bug that causes out of bounds access when dinamically adding/removing colliders at runtime.
+- Bug that prevented stitch constraints from working first time they were enabled.
+- Offset in particle selection brush on high density screens.
+
+### Changed
+- Constraint batches of multiple actors are now merged together. This greatly reduces the amount of dispatched jobs and improves performance on both backends.
+- Colliders no longer have a "use distance fields" boolean value, they will always use the SDF as long as they have one.
+
+## [5.5]
+
+### Added
+- Backend system: abstracts the underlying particle-based physics engine used. To the native, built-in engine (Oni), we have added a Burst-based implementation that
+will run on all platforms supported by Burst.
+
+### Changed
+- Improved path smoother, line and extruded renderer performance.
+
+## [5.4]
+
+### Fixed
+- Bug that caused a crash when using Obi in conjunction with Mirror networking system (NetworkIdentity component).
+- Bug that could cause a crash when disabling an actor under a disabled solver.
+- Bug that prevented self-collisions to work correctly between particles created at runtime by a ObiRopeCursor.
+
+### Changed
+- Recompiled iOS libraries using XCode 11.3.1, to circumvent bitcode compatibility issues now that XCode 11.4 and up have a bug that cause linking against Obi to fail. 
+
+
+## [5.3]
+
+### Added
+- Added adaptive rendering decimation to ObiPathSmoother, controllable using a curvature threshold.
+- Greatly increased numerical precision for rigidbody interaction when solvers are far away from the origin.
+- 2D colliders now span infinitely in the Z axis.
+
+### Fixed
+- Issue in the ObiStitcher editor that picked up incorrect particles when adding stitches.
+- Issue that caused a 1-frame delay for collider geometry parented inside a solver.
+- Issue in ObiParticleDragger that caused incorrect behavior with multiple solvers.
+- Bug in particle advection, that assumed diffuse particle positions to be expreseed in world space. Now advection works correctly
+for solvers not positioned at 0,0,0.
+
+## [5.2]
+
+### Added
+- Rope tear callback (cloth.OnRopeTorn)
+- Function to reset particle positions orientations and and velocities in an actor (actor.ResetParticles())
+- Added support for ObiRopeLineRenderer in SRPs.
+
+### Fixed
+- Issue with inertia rotations, that caused wrong inertia tensors for complex compound colliders.
+- Issue in particle attachments, that forced to call Bind() manually after changing their target or particle group at runtime.
+
+
+## [5.1]
+
+### Added
+-Smooth initial overlap resolution by using clamped depenetration velocity.
+-Actors now automatically create a solver root when editing them in prefab mode.
+-Brought back rope mesh baking.
+
+### Fixed
+- Bug that caused solvers with no actors in their hierarchy to freeze Unity when updated by a fixed updater.
+- Bug that prevented multiple colliders in the same object to be notified of transform changes.
+
+### Fixed
+-Fixed bug that caused null ref when attempting to edit a rope with no blueprint.
+
+## [5.0]
+
+#IMPORTANT: You’ll need to re-create all your 4.x ObiRope components. Data serialization and workflows are significantly different from previous versions.
+
+### Changed
+- Introduced blueprints: particle/constraint object representations are now stored in assets called "blueprints" (as opposed to being stored in the actor itself, as in previous versions). This improves
+memory consumption, editor performance, completely separates data from the runtime components that operate on it, and enables easier and faster workflow.
+- Non-linear, non-destructive rope editing with instant feedback.
+- Simplified underlying engine, constraints are grouped in batches using graph coloring for optimal parallelism.
+- Unified handles and pin constraints as "attachments".
+- Pin and distance constraints now correctly report forces in Newtons.
+- Unitless "Stiffness" parameters have been replaced by "Compliance" parameters in most constraint types, expressed in Newtons/meter.
+
+### Added
+- Support for multiple cursors in a single rope.
+
+### Removed
+- World space/local space simulation. Simulation is now always performed in solver space.
+- Solvers no longer have a maxParticles attribute. They dynamically change their capacity at runtime.
+
+### Fixed
+- Crash in certain iOS devices using the A12 cpu.
+
+## [4.2]
+
+### Added
+- Remade all sample scenes to work in Unity 2019.1 and above.
+
+
+## [4.1]
+
+#IMPORTANT: You’ll need to re-create all your 3.x ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Added
+- Now you can bake the rope mesh anytime, saving it as a new mesh asset in your project. Useful for set dressing and generating static geometry. Only works for ObiRopeExtrudedMeshRederer and ObiRopeMeshRenderer.
+- More accurate collision/contact model, using staggered projections.
+- Approximate shock propagation for particle contacts. This makes particle stacking easier and stabler. A new parameter has been added to the solver that controls the amount of shock propagation.
+- Split material friction into static and dynamic friction.
+- Added rolling contacts w/ rolling friction. These are slightly more expensive than regular contacts. Can be controlled on a per-collision material basis.
+- Added ObiInstancedParticleRenderer, allows to draw particles as instances of an arbitrary mesh (requires GPU instancing).
+- Particle-particle collision callbacks (solver.OnParticleCollision)
+
+### Fixed
+- Bug that caused mesh colliders with negative thickness to crash.
+
+### Changed
+- More reliable, higher precision algorithm for distance field generation. Specially noticeable in sharp corners/crevices.
+
+## [4.0.2]
+
+#IMPORTANT: You’ll need to re-create all your 3.x ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Changed
+- Switched the Windows compiler to Clang/LLVM, resulting in a huge performance improvement.
+
+### Fixed
+- Null ref exception when copying a ObiCloth component.
+- Issue with pin constraints overshooting when solver set to world space mode.
+- Issue that prevented pin constraints being torn.
+
+## [4.0]
+
+#IMPORTANT: You’ll need to re-create all your ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Added
+- New ObiRod actor: advanced rope that models torsion, as well as anisotropic bending and shearing.
+- Added 3 new constraint types: Shear/Stretch, Bend/Twist and Chain.
+- Achieved zero garbage generation trough the use of new Unity API for camera frustum planes.
+
+### Changed
+- All particle buffers (positions, velocities, etc). are now shared between C++/C# using pointers to aligned memory. This completely eliminates the need for copying data back and forth, simplifies the API
+  and improves performance. The entire Oni.Get/SetParticle* family of methods has disappeared, now you can work with the particle buffers directly.
+- Rope rendering modes have been replaced by ObiRopeRenderer components.
+
+### Fixed
+- Null ref exception when initializing a disabled actor.
+- Bug that caused XPBD to be time step dependent.
+
+## [3.5]
+
+### Added
+- Support for 32 and 64 bit Linux architectures.
+- Two-way rigidbody interaction for local-space solvers.
+- Added world inertia scale.
+- ObiCollider now takes a reference to a Collider, enabling the use of multiple colliders in the same GameObject.
+
+### Changed
+- Separated world velocity scale into linear and angular components.
+- World velocity scale is no longer specified per-actor, but per-solver.
+- Better ObiProfiler: it now shows a per-thread pyramid diagram of internal jobs, with more human-readable names.
+
+### Removed
+- Solvers no longer have a Collision Layers property. All solvers share the same colliders. Note that you can still use phases to ignore collisions with certain colliders.
+- Local space solvers no longer need their own copy of each ObiCollider in the scene, they can all share the same colliders. This results in much higher performance for multiple local-space solvers.
+
+### Fixed
+- Added (float3x3) typecast to particle shaders, to be GLES friendly.
+
+## [3.4.1]
+
+### Added
+- "Thickness from particles" now works in Custom Mesh render mode.
+- Custom Mesh mode now has a "volume scaling" parameter that squashes and stretches the mesh together with the rope.
+
+## [3.4]
+
+### Added
+- Perspective-correct particle rendering.
+- ObiParticleRenderer now supports custom shaders for rendering.
+
+### Fixed
+- Bug that required to disable and re-enable ObiParticleRenderer when moving the actor to a new solver.
+- Bug that caused twitching when performing more than 1 physics step per frame when using handles.
+
+## [3.3.1]
+
+### Fixed
+- Removed unused variable warnings introduced in 3.3
+- Fixed null ref exception when creating a new distance field asset.
+- Fixed crash when using multiple solvers in different update modes.
+- Fixed some sample scenes lacking collision due to missing distance field.
+
+## [3.3]
+
+### Added
+- Support for 2D rigidbody coupling has been brought back.
+- Added substepping to the core solver. This allows to update each solver at a different effective frequency, and decouple the Obi 
+  physics loop from Unity’s.
+- New implementation of fine-grained parallel tasks in core solver, that boosts performance up to x1.5.
+- Support for a new type of rope rendering, that can deform any mesh to follow the rope curve.
+- Support for a new collision primitive: distance fields.
+- Support for per-particle coloring of rope.
+- ObiCollider automatically creates ObiRigidbody component if needed when reparenting it.
+- Helper script (ObiKinematicVelocities) that calculates angular and linear velocities for kinematic rigidbodies that are transformed around. Useful for continuous collision detection and friction effects against objects that are being moved around using their transform instead of forces.
+
+### Changed
+- Near-zero garbage generation for OnCollision and ObFluidUpdated solver events.
+- Near-zero garbage generation for rope rendering.
+- Constraints.GetBatches() now returns an IEnumerable. This means it cannot be accesed by index. There’s a helper method GetFirstBatch() that returns
+the correctly typed first batch, or null if there’s none.
+
+### Fixed
+- Null reference exception in pin constraints when visualization is enabled.
+- Bug that caused asleep particles to miss collisions upon reactivation.
+- Bug that caused copying a rope to “steal“ the mesh from the original one.
+
+## [3.2]
+### Added
+- Support for CapsuleCollider2D.
+
+### Changed
+- Rope is still rendered (though not simulated) when the ObiRope component is disabled.
+- Colliders/rigidbodies are no longer copied over to the C++ library each frame. Instead, only colliders that have their transform or any collision-related property altered are copied to the solver. This greatly improves performance when many colliders are present, and greatly reduces memory allocation and GC activity.
+- AllocateParticles() and FreeParticles() have been merged with AddActor() and RemoveActor() respectively. A new per-particle array “particleToActor” makes it faster and easier to know which actor a particle belongs to.
+
+### Removed
+- ObiCollisionGroup has disappeared. It is no longer necessary to manually add colliders to a group, instead each ObiSolver automatically picks up all ObiColliders in a given layer.
+- MeshColliders are now always treated as two-sided thin concave meshes. Solid and one-sided modes have disappeared.
+
+### Fixed
+- Android issue that prevented some devices from finding the Oni library.
+- Removed redundant menu items.
+
+## [3.1.1]
+### Added
+- New “Line” rendering mode for ropes. This will render the rope as a camera-oriented quad strip, similar to what Unity’s LineRenderer does. This is useful for lightweight rendering and 2D games.
+- Particle renderer is now much faster and also allocates less memory.
+- New “hierarchical” method to generate tether constraints: this method generates more constraints than the traditional “anchor to fixed” approach, but works in the general case even if there are no fixed particles.
+
+### Changed
+- Installation is no longer required. Obi now works right out of the box, so the installation window has been removed, and the “Editor default resources” and “Gizmos” folders removed.
+
+## [3.1]
+### Added
+- You can now choose where should the solver be updated: FixedUpdate, AfterFixedUpdate, or LateUpdate.
+- Rope rendering now supports variable thickness, based on particle radii. Enabled by default, disable “thickness from particles” to get uniform thickness regardless of particle radii variations.
+- Edit-time preview of “smoothness” rope parameter.
+- Utility method to calculate actual rope length.
+- Support for triggers. A trigger collider will generate contact constraints, but won´t enforce them.
+- Contact structs returned by the OnCollision event now include the contact tangent and bitangent vectors.
+- Added per-particle layer properties, for finer collision control.
+
+### Changed
+- Faster and more accurate rigidbody impulse application, which results in better collision resolution.
+- Greatly improved pin constraint stability for large mass ratios.
+- ObiColliderGroup’s Colliders and Colliders2D properties are now plain arrays: “colliders” and “colliders2D”.
+- Memory allocation for rope mesh generation has been reduced by 90%.
+- ObiParticleRenderer memory allocation has been greatly reduced, and its performance improved.
+- Pin constraints are now always drawn in particle edit mode, not only when the particles are selected.
+
+### Fixed
+- Got rid of warnings related to obsolete platform enums in sample scripts.
+- Potential bug in GCHandle deallocation affecting upcoming Unity versions (thanks to the guys at Unity for pointing me at this)
+- Tearable pin constraints now work correctly.
+
+## [3.0.1]
+### Added
+- Support for iOS simulator.
+- Faster collision contact generation.
+
+### Fixed
+- Crash in Crane scene due to a bug in pin constraints.
+
+## [3.0]
+
+#IMPORTANT: You’ll need to re-generate all your ropes as internal data layout of previous versions is not compatible with this update.
+### Added 
+- Welcome window with automatic installer.
+- Upgraded constraint projection to XPBD (extended position-based dynamics). This decouples stiffness and damping from the amount of iterations, resulting in more realistic simulation.
+- Solver constraint enforcement order can now be changed. This allows to change the relative importance of constraints.
+- The solver now uses a task-based threading system which allows to exploit parallelism between multiple solvers.
+- Custom multithreading profiler, that allows to fine-tune performance.
+- Optional local-space simulation, for better numerical accuracy in large-scale worlds and greater control.
+- ObiStitcher component allows to stitch together separate ropes.
+- Added pencil paint mode to particle editor.
+- Automatic self-collisions disabling for particles that intersect in rest pose. This allows to set larger particle radii 
+  to ensure better self-collisions, without worrying about constraint fighting.
+- Breakable pin constraints.
+- Ropes are now tearable, and custom prefabs can be instantiated at both sides of the tear.
+- Rope length can be changed at runtime, using the ObiRopeCursor component.
+- Procedural curve geometry smoothing.
+
+### Changed
+- Actor particle limit is no longer 16384 but 65536, matching Unity’s own vertex limit.
+- Particle editor paint brush falloff has ben changed from linear to gaussian.
+- Distance constraints’ compression stiffness has been replaced by a slack percentage.
+- Performance improvement in mesh colliders and edge colliders.
+
+### Fixed
+- Bug in collision detection against terrains.
+- Crash in 32-bit windows systems due to memory misalignment.
+- Bug that caused slow convergence and excessive jittering for particle-particle sequential contact resolution.
+- Bug in hierarchical grid update that caused a crash in some cases when a hash key collision happened.
+- Bug in continuous collision detection that caused particles to be pushed to the other side of very thin objects.
+- Bug in ray/bounding box intersection test caused by non-IEEE754 compliant SSE division by zero.
+- Bug that caused ObiParticleRenderer to ignore camera culling mask, and render in all cameras.
+- Bug that caused a crash under certain conditions in 32 bit systems.
+- Bug that caused particle property value field to reset to the value of the last particle when painting.
+- Fixed collision stabilization bug that caused particles to sink slightly when over a dynamic rigidbody.
+
+## [1.2]
+
+### Added
+- Android support.
+- Upgraded constraint projection to XPBD (extended position-based dynamics). This decouples stiffness and damping from the amount of iterations.
+- Solver constraint enforcement order can now be changed. This allows to change the relative importance of constraints.
+- Welcome window with automatic installer.
+- Resolution-preserving method to change rope length dynamically.
+- Added pencil paint mode to particle editor.
+- Optional local-space simulation, for better numerical accuracy in large-scale worlds and greater control.
+- Custom multithreading profiler, that allows to fine-tune performance.
+- Better particle visualization in editor.
+- Breakable pin constraints.
+
+### Changed
+- Actor particle limit is no longer 16384 but 65536, matching Unity’s own vertex limit.
+- Particle editor paint brush falloff has ben changed from linear to gaussian.
+- Distance constraints’ compression stiffness has been replaced by a slack percentage.
+
+### Fixed
+- Bug that caused an index out of bounds exception when initializing rope with zero resolution.
+- Bug that caused an error message regarding MeshFilter destruction when entering play mode with a rope selected in the hierarchy.
+- Bug that prevented the particle editor window from appearing on retina displays.
+- 1-frame delay between particle and rigid body physics, which affected pin and collision constraints.
+
+## [1.1]
+
+### Added
+- MeshColliders are now fully supported.
+- Support for 2D physics, Box2D, Circle2D and Edge2D colliders.
+- Chain rendering.
+- Sleep threshold that keeps particles fixed in place when their kinetic energy is low.
+- Chain constraints, that allow for 100% inextensible ropes.
+- Rope thickness, twist, cap sections and section shape can now be changed without the need to re-initialize the rope.
+- Required constraint components are automatically removed from the object when removing the rope component in editor.
+
+### Fixed
+- Issue with box colliders, that caused incorrect contact generation in corners when using contactOffset.
+
+## [1.0.0] - 2015-07-16
+- Initial release.
diff --git a/xiaofang/Assets/Obi/CHANGELOG_rope.txt.meta b/xiaofang/Assets/Obi/CHANGELOG_rope.txt.meta
new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor.meta b/xiaofang/Assets/Obi/Editor.meta
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diff --git a/xiaofang/Assets/Obi/Editor/Common.meta b/xiaofang/Assets/Obi/Editor/Common.meta
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints.meta
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta
new file mode 100644
index 00000000..6737bc72
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: aa63386a67f904b399175c9931270250
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs
new file mode 100644
index 00000000..54dcca92
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs
@@ -0,0 +1,40 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintEditorTool
+    {
+        protected ObiActorBlueprintEditor editor;
+        protected string m_Name;
+        protected Texture m_Icon;
+
+        public string name
+        {
+            get { return m_Name; }
+        }
+
+        public Texture icon
+        {
+            get
+            {
+                return m_Icon;
+            }
+        }
+
+        public ObiBlueprintEditorTool(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public virtual void OnEnable(){}
+        public virtual void OnDisable(){}
+        public virtual void OnDestroy(){}
+        public virtual string GetHelpString() { return string.Empty; }
+
+        public abstract void OnInspectorGUI();
+        public virtual void OnSceneGUI(SceneView sceneView){}
+
+        public virtual bool Editable(int index) { return editor.visible[index]; }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta
new file mode 100644
index 00000000..95c9d3dd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ca0c1c4cbbd024d49b15bf3439506500
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
new file mode 100644
index 00000000..c2c9e123
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
@@ -0,0 +1,130 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public class ObiPaintBrushEditorTool : ObiBlueprintEditorTool
+    {
+        public ObiRaycastBrush paintBrush;
+        public bool selectionMask = false;
+        public int sourcePropertyIndex = 0; /**<index of the property to copy from*/
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiPaintBrushEditorTool(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+
+            m_Icon = Resources.Load<Texture2D>("BrushIcon");
+            m_Name = "Property painting";
+
+            paintBrush = new ObiRaycastBrush(editor.sourceMesh,
+                                     () =>
+                                     {
+                                         // As RecordObject diffs with the end of the current frame,
+                                         // and this is a multi-frame operation, we need to use RegisterCompleteObjectUndo instead.
+                                         Undo.RegisterCompleteObjectUndo(editor.blueprint, "Paint particles");
+                                     },
+                                     () =>
+                                     {
+                                         editor.Refresh();
+                                     },
+                                     () =>
+                                     {
+                                         EditorUtility.SetDirty(editor.blueprint);
+                                     });
+
+        }
+
+        public override string GetHelpString()
+        {
+            return "Paint particle properties directly on the mesh. Most brushes have an alternate mode, accesed by holding 'shift' while painting.";
+        }
+
+        public override void OnInspectorGUI()
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            // toolbar with available brush modes  for the current property:
+            editor.currentProperty.BrushModes(paintBrush);
+
+            EditorGUILayout.Space();
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+            {
+                editor.Refresh();
+                editor.currentProperty.OnSelect(paintBrush);
+            }
+
+            if (paintBrush.brushMode is ObiFloatCopyBrushMode)
+            {
+                EditorGUI.BeginChangeCheck();
+                sourcePropertyIndex = editor.PropertySelector(sourcePropertyIndex, "Copy from");
+                var sourceProperty = editor.GetProperty(sourcePropertyIndex) as ObiBlueprintFloatProperty; 
+                if (EditorGUI.EndChangeCheck())
+                {
+                    (paintBrush.brushMode as ObiFloatCopyBrushMode).source = sourceProperty;
+                }
+                if (sourceProperty == null)
+                    EditorGUILayout.HelpBox("You can't copy value from this property.", MessageType.Error);
+            }
+
+            if (paintBrush.brushMode.needsInputValue)
+                editor.currentProperty.PropertyField();
+
+            paintBrush.radius = EditorGUILayout.Slider("Brush size", paintBrush.radius, 0.0001f, 0.5f);
+            paintBrush.innerRadius = EditorGUILayout.Slider("Brush inner size", paintBrush.innerRadius, 0, 1);
+            paintBrush.opacity = EditorGUILayout.Slider("Brush opacity", paintBrush.opacity, 0, 1);
+            paintBrush.mirror.axis = (ObiBrushMirrorSettings.MirrorAxis)EditorGUILayout.EnumPopup("Brush mirror axis", paintBrush.mirror.axis);
+            paintBrush.mirror.space = (ObiBrushMirrorSettings.MirrorSpace)EditorGUILayout.EnumPopup("Brush mirror space", paintBrush.mirror.space);
+
+            EditorGUI.BeginChangeCheck();
+            meshBasedEditor.particleCulling = (ObiMeshBasedActorBlueprintEditor.ParticleCulling)EditorGUILayout.EnumPopup("Culling", meshBasedEditor.particleCulling);
+            if (ObiActorBlueprintEditor.selectedCount == 0)
+            {
+                EditorGUILayout.HelpBox("Select at least one particle to use selection mask.", MessageType.Info);
+                selectionMask = false;
+                GUI.enabled = false;
+            }
+            selectionMask = EditorGUILayout.Toggle("Selection mask", selectionMask);
+            if (EditorGUI.EndChangeCheck())
+                SceneView.RepaintAll();
+            GUI.enabled = true;
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+                editor.RenderModeSelector();
+                editor.currentProperty.VisualizationOptions();
+           
+            EditorGUILayout.EndVertical();
+        }
+
+        public override bool Editable(int index)
+        {
+            return editor.visible[index] && (!selectionMask || ObiActorBlueprintEditor.selectionStatus[index]);
+        }
+
+        public override void OnSceneGUI(SceneView view)
+        {
+            if (Camera.current != null)
+            {
+                var blueprint = meshBasedEditor.blueprint as ObiMeshBasedActorBlueprint;
+                paintBrush.raycastTransform = blueprint != null ? Matrix4x4.TRS(Vector3.zero, blueprint.rotation, blueprint.scale) : Matrix4x4.identity;
+
+                paintBrush.raycastTarget = meshBasedEditor.sourceMesh;
+                paintBrush.DoBrush(editor.blueprint.positions);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta
new file mode 100644
index 00000000..b0abbdf5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 332bb5fc94a774291b4c4ebe50f61205
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
new file mode 100644
index 00000000..6a21eb66
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
@@ -0,0 +1,336 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditorInternal;
+
+namespace Obi
+{
+    public class ObiParticleSelectionEditorTool : ObiBlueprintEditorTool
+    {
+        ObiScreenSpaceBrush selectionBrush;
+        ObiSelectBrushMode selectMode;
+        ObiTethersTool tethersTool;
+
+        protected ReorderableList particleGroupList;
+        protected bool mixedPropertyValue = false;
+        protected float minSelectionValue;
+        protected float maxSelectionValue;
+
+        public ObiParticleSelectionEditorTool(ObiActorBlueprintEditor editor) : base(editor)
+        {
+            m_Icon = Resources.Load<Texture2D>("SelectIcon");
+            m_Name = "Particle selection";
+
+            selectionBrush = new ObiScreenSpaceBrush(null, UpdateSelection, null);
+            selectMode = new ObiSelectBrushMode(new ObiBlueprintSelected(editor));
+
+            selectionBrush.brushMode = selectMode;
+            tethersTool = new ObiTethersTool();
+
+            InitializeGroupsList();
+        }
+
+
+        public override string GetHelpString()
+        {
+            if (ObiActorBlueprintEditor.selectedCount > 0)
+                return "" + ObiActorBlueprintEditor.selectedCount + " selected particles.";
+            else
+                return "No particles selected. Click and drag over particles to select them.";
+        }
+
+        private void InitializeGroupsList()
+        {
+            particleGroupList = new ReorderableList(editor.serializedObject,
+                                                    editor.serializedObject.FindProperty("groups"),
+                              false, true, true, true);
+
+            particleGroupList.drawHeaderCallback = (Rect rect) =>
+            {
+                EditorGUI.LabelField(rect, "Groups");
+            };
+
+            particleGroupList.drawElementCallback = (Rect rect, int index, bool isActive, bool isFocused) =>
+            {
+                var element = particleGroupList.serializedProperty.GetArrayElementAtIndex(index);
+                rect.y += 4;
+
+                SerializedObject obj = new SerializedObject(element.objectReferenceValue);
+                ObiParticleGroup group = obj.targetObject as ObiParticleGroup;
+
+                EditorGUI.PropertyField(new Rect(rect.x, rect.y, rect.width, EditorGUIUtility.singleLineHeight),
+                                        obj.FindProperty("m_Name"), new GUIContent("Name"));
+                rect.y += EditorGUIUtility.singleLineHeight + 2;
+
+                if (GUI.Button(new Rect(rect.x, rect.y, rect.width * 0.5f, EditorGUIUtility.singleLineHeight), "Select", EditorStyles.miniButtonLeft))
+                {
+                    if ((Event.current.modifiers & EventModifiers.Shift) == 0)
+                    {
+                        for (int p = 0; p < ObiActorBlueprintEditor.selectionStatus.Length; p++)
+                            ObiActorBlueprintEditor.selectionStatus[p] = false;
+                    }
+
+                    foreach (int p in group.particleIndices)
+                        ObiActorBlueprintEditor.selectionStatus[p] = true;
+
+                    UpdateSelection();
+                }
+
+                if (GUI.Button(new Rect(rect.x + rect.width * 0.5f, rect.y, rect.width * 0.5f, EditorGUIUtility.singleLineHeight), "Set", EditorStyles.miniButtonRight))
+                {
+                    group.particleIndices.Clear();
+                    for (int p = 0; p < ObiActorBlueprintEditor.selectionStatus.Length; p++)
+                    {
+                        if (ObiActorBlueprintEditor.selectionStatus[p])
+                            group.particleIndices.Add(p);
+                    }
+                }
+
+                obj.ApplyModifiedProperties();
+            };
+
+            particleGroupList.elementHeight = (EditorGUIUtility.singleLineHeight + 2) * 2 + 8;
+
+            particleGroupList.onAddCallback = (ReorderableList list) =>
+            {
+
+                var group = editor.blueprint.AppendNewParticleGroup("new group");
+
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                {
+                    if (ObiActorBlueprintEditor.selectionStatus[i])
+                        group.particleIndices.Add(i);
+                }
+
+                AssetDatabase.SaveAssets();
+            };
+
+            particleGroupList.onRemoveCallback = (ReorderableList list) =>
+            {
+                editor.blueprint.RemoveParticleGroupAt(list.index);
+            };
+        }
+
+        private void SelectionTools()
+        {
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("InvertButton"), "Invert selection"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                {
+                    if (editor.blueprint.IsParticleActive(i))
+                        ObiActorBlueprintEditor.selectionStatus[i] = !ObiActorBlueprintEditor.selectionStatus[i];
+                }
+                UpdateSelection();
+            }
+
+            GUI.enabled = ObiActorBlueprintEditor.selectedCount > 0;
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("ClearButton"), "Clear selection"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                    ObiActorBlueprintEditor.selectionStatus[i] = false;
+                UpdateSelection();
+            }
+
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("OptimizeButton"), "Optimize selected"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                Undo.RecordObject(editor.blueprint, "Optimize particles away");
+                editor.blueprint.RemoveSelectedParticles(ref ObiActorBlueprintEditor.selectionStatus);
+                editor.Refresh();
+            }
+
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("RemoveButton"), "Remove selected"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                Undo.RecordObject(editor.blueprint, "Remove particles");
+                editor.blueprint.RemoveSelectedParticles(ref ObiActorBlueprintEditor.selectionStatus, false);
+                editor.Refresh();
+            }
+            GUI.enabled = true;
+
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("RestoreButton"), "Restore removed particles"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                Undo.RecordObject(editor.blueprint, "Restore removed particles");
+                editor.blueprint.RestoreRemovedParticles();
+                editor.Refresh();
+            }
+
+            GUILayout.FlexibleSpace();
+            EditorGUILayout.EndHorizontal();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Property-based selection", EditorStyles.boldLabel);
+            var property = editor.currentProperty as ObiBlueprintFloatProperty;
+            if (property != null)
+            {
+                if (!Mathf.Approximately(property.minVisualizationValue,property.maxVisualizationValue))
+                {
+                    EditorGUILayout.HelpBox("Drag the slider to select based on " + property.name + ". You can choose a different property in the \"Property\" dropdown below.", MessageType.None);
+                    minSelectionValue = Mathf.Max(minSelectionValue, property.minVisualizationValue);
+                    maxSelectionValue = Mathf.Min(maxSelectionValue, property.maxVisualizationValue);
+                    maxSelectionValue = Mathf.Max(maxSelectionValue, minSelectionValue);
+
+                    EditorGUI.BeginChangeCheck();
+                    EditorGUILayout.MinMaxSlider("Select by " + property.name, ref minSelectionValue, ref maxSelectionValue, property.minVisualizationValue, property.maxVisualizationValue);
+                    minSelectionValue = EditorGUILayout.FloatField("Minimum " + property.name, minSelectionValue);
+                    maxSelectionValue = EditorGUILayout.FloatField("Maximum " + property.name, maxSelectionValue);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                        {
+                            if (editor.blueprint.IsParticleActive(i))
+                            {
+                                var value = property.Get(i);
+                                ObiActorBlueprintEditor.selectionStatus[i] = value >= minSelectionValue && value <= maxSelectionValue;
+                            }
+                        }
+                        UpdateSelection();
+                    }
+                }
+                else
+                {
+                    EditorGUILayout.HelpBox("All particles have the same " + property.name + " value.", MessageType.Info);
+                }
+            }
+            else
+            {
+                EditorGUILayout.HelpBox("Property-based selection only works with scalar properties.",MessageType.Info);
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            // Selection tools:
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            selectionBrush.radius = EditorGUILayout.Slider("Brush size", selectionBrush.radius, 5, 200);
+
+            if (editor is ObiMeshBasedActorBlueprintEditor)
+            {
+                EditorGUI.BeginChangeCheck();
+                (editor as ObiMeshBasedActorBlueprintEditor).particleCulling = (ObiMeshBasedActorBlueprintEditor.ParticleCulling)EditorGUILayout.EnumPopup("Culling", (editor as ObiMeshBasedActorBlueprintEditor).particleCulling);
+                if (EditorGUI.EndChangeCheck())
+                    SceneView.RepaintAll();
+            }
+
+
+            EditorGUILayout.Space();
+            SelectionTools();
+
+            EditorGUILayout.EndVertical();
+
+
+            // Properties:
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Properties", EditorStyles.boldLabel);
+            EditorGUILayout.HelpBox("Select a property to view and edit. Currently editing " + editor.currentProperty.name+".", MessageType.None);
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+            {
+                editor.Refresh();
+                UpdateSelection();
+            }
+
+            // Property value:
+            EditorGUI.showMixedValue = mixedPropertyValue;
+            EditorGUI.BeginChangeCheck();
+            editor.currentProperty.PropertyField();
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(editor.blueprint, "Set particle property");
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                {
+                    if (!ObiActorBlueprintEditor.selectionStatus[i]) continue;
+                    editor.currentProperty.SetDefaultToIndex(i);
+                }
+                editor.Refresh();
+            }
+
+            EditorGUI.showMixedValue = false;
+
+            EditorGUILayout.EndVertical();
+
+
+            // Particle groups:
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Particle groups", EditorStyles.boldLabel);
+            particleGroupList.DoLayoutList();
+
+            EditorGUILayout.EndVertical();
+
+
+
+            if (editor.blueprint.usesTethers)
+            {
+                EditorGUILayout.Space();
+                GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+                EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+                EditorGUILayout.Space();
+                tethersTool.DoTethers(editor);
+                EditorGUILayout.EndVertical();
+            }
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+                editor.RenderModeSelector();
+                ObiActorBlueprintEditor.dotRadiusScale = EditorGUILayout.Slider(new GUIContent("Particle dot size"), ObiActorBlueprintEditor.dotRadiusScale, 0, 5);
+                editor.currentProperty.VisualizationOptions();
+           
+            EditorGUILayout.EndVertical();
+        }
+
+        public override void OnSceneGUI(SceneView sceneView)
+        {
+            if (Camera.current != null)
+                selectionBrush.DoBrush(editor.blueprint.positions);
+        }
+
+        protected void UpdateSelection()
+        {
+            ObiActorBlueprintEditor.selectedCount = 0;
+            mixedPropertyValue = false;
+
+            // Find out how many selected particles we have, and whether they all have the same value for the current property:
+            for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+            {
+                if (editor.blueprint.IsParticleActive(i) && ObiActorBlueprintEditor.selectionStatus[i])
+                {
+                    ObiActorBlueprintEditor.selectedCount++;
+
+                    if (ObiActorBlueprintEditor.activeParticle >= 0)
+                    {
+                        if (!editor.currentProperty.Equals(ObiActorBlueprintEditor.activeParticle, i))
+                            mixedPropertyValue = true;
+                    }
+                    else
+                        ObiActorBlueprintEditor.activeParticle = i;
+                }
+                else if (ObiActorBlueprintEditor.activeParticle == i)
+                    ObiActorBlueprintEditor.activeParticle = -1;
+            }
+
+            // Set initial property value:
+            if (!mixedPropertyValue && ObiActorBlueprintEditor.activeParticle >= 0)
+                editor.currentProperty.GetDefaultFromIndex(ObiActorBlueprintEditor.activeParticle);
+
+            editor.Repaint();
+            SceneView.RepaintAll();
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta
new file mode 100644
index 00000000..774ebafc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b3940c62f9ffe4808afc4d2d70ae5e28
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
new file mode 100644
index 00000000..8ceee4b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
@@ -0,0 +1,166 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditorInternal;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public class ObiPropertyTextureEditorTool : ObiBlueprintEditorTool
+    {
+        public enum TextureChannel
+        {
+            Red = 0,
+            Green = 1,
+            Blue = 2,
+            Alpha = 3,
+        }
+
+        protected bool selectionMask = false;
+        protected bool import = true;
+        protected bool export = true;
+
+        protected float minPropertyValue = 0;
+        protected float maxPropertyValue = 10;
+
+        protected int exportWidth = 512;
+        protected int exportHeight = 512;
+        protected int padding = 64;
+
+        protected Texture2D propertyTexture;
+        protected TextureChannel textureChannel;
+
+        protected ObiBlueprintFloatProperty floatProperty;
+        protected ObiBlueprintColorProperty colorProperty;
+        protected Action<int, Color> textureReadCallback;
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiPropertyTextureEditorTool(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+            m_Icon = Resources.Load<Texture2D>("TextureIcon");
+            m_Name = "Texture import/export";
+        }
+
+        public override string GetHelpString()
+        {
+            return "Import/export particle properties to textures. Assumes that your mesh has non-overlapping UVs.";
+        }
+
+        private void FloatFromTexture(int i, Color color)
+        {
+            if (!selectionMask || ObiActorBlueprintEditor.selectionStatus[i])
+            {
+                float value = minPropertyValue + color[(int)textureChannel] * (maxPropertyValue - minPropertyValue);
+                floatProperty.Set(i, value);
+            }
+        }
+
+        private void ColorFromTexture(int i, Color color)
+        {
+            if (!selectionMask || ObiActorBlueprintEditor.selectionStatus[i])
+                colorProperty.Set(i, color);
+        }
+
+        public override void OnInspectorGUI()
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+                editor.Refresh();
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            import = EditorGUILayout.BeginFoldoutHeaderGroup(import, "Import texture");
+
+            if (import)
+            {
+                propertyTexture = (Texture2D)EditorGUILayout.ObjectField("Source", propertyTexture, typeof(Texture2D), false);
+
+                floatProperty = editor.currentProperty as ObiBlueprintFloatProperty;
+                colorProperty = editor.currentProperty as ObiBlueprintColorProperty;
+
+                if (floatProperty != null)
+                {
+                    textureReadCallback = FloatFromTexture;
+                    textureChannel = (TextureChannel)EditorGUILayout.EnumPopup("Source channel", textureChannel);
+                    minPropertyValue = EditorGUILayout.FloatField("Min value", minPropertyValue);
+                    maxPropertyValue = EditorGUILayout.FloatField("Max value", maxPropertyValue);
+                }
+                else if (colorProperty != null)
+                {
+                    textureReadCallback = ColorFromTexture;
+                }
+
+                if (GUILayout.Button("Import"))
+                {
+                    Undo.RecordObject(editor.blueprint, "Import particle property");
+                    if (!meshBasedEditor.ReadParticlePropertyFromTexture(propertyTexture, textureReadCallback))
+                    {
+                        EditorUtility.DisplayDialog("Invalid texture", "The texture is either null or not readable.", "Ok");
+                    }
+
+                    // force automatic range calculation for floating point properties.
+                    if (floatProperty != null)
+                        floatProperty.autoRange = true;
+                    editor.Refresh();
+                }
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            export = EditorGUILayout.BeginFoldoutHeaderGroup(export, "Export texture");
+
+            if (export)
+            {
+                exportWidth = EditorGUILayout.IntField("Texture width", exportWidth);
+                exportHeight = EditorGUILayout.IntField("Texture height", exportHeight);
+                padding = EditorGUILayout.IntField("Padding", padding);
+                if (GUILayout.Button("Export"))
+                {
+                    var path = EditorUtility.SaveFilePanel("Save texture as PNG",
+                                                            "",
+                                                            "property.png",
+                                                            "png");
+                    if (path.Length > 0)
+                    {
+                        // force automatic range calculation for floating point properties.
+                        if (floatProperty != null)
+                            floatProperty.autoRange = true;
+                        editor.Refresh();
+
+                        if (!meshBasedEditor.WriteParticlePropertyToTexture(path, exportWidth, exportHeight, padding))
+                        {
+                            EditorUtility.DisplayDialog("Invalid path", "Could not write a texture to that location.", "Ok");
+                        }
+                    }
+                }
+            }
+
+            EditorGUILayout.EndFoldoutHeaderGroup();
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            editor.RenderModeSelector();
+            EditorGUILayout.EndVertical();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta
new file mode 100644
index 00000000..0655a767
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7727285b07aa44d6e8f65a8bc1f5d972
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
new file mode 100644
index 00000000..a1e4d29f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
@@ -0,0 +1,86 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+            
+
+namespace Obi
+{
+    public class ObiTethersTool
+    {
+        protected Rect tetherDropdownRect;
+        protected bool[] tetheredGroups = new bool[0];
+
+        // the GenericMenu.MenuFunction2 event handler for when a menu item is selected
+        void OnTetherGroupSelected(object index)
+        {
+            int i = (int)index;
+            tetheredGroups[i] = !tetheredGroups[i];
+        }
+
+        public void DoTethers(ObiActorBlueprintEditor editor)
+        {
+            EditorGUILayout.LabelField("Tethers", EditorStyles.boldLabel);
+
+            var tethers = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Tether);
+            int tetherCount = 0;
+            if (tethers != null)
+                tetherCount = tethers.GetConstraintCount();
+            
+            if (tetherCount > 0)
+                EditorGUILayout.LabelField("" + tetherCount + " tether constraints.", EditorStyles.helpBox);
+            else
+                EditorGUILayout.LabelField("No tether constraints. Select at least one particle group in the dropdown, then click 'Generate Tethers'.", EditorStyles.helpBox);
+
+            Array.Resize(ref tetheredGroups, editor.blueprint.groups.Count);
+
+            // display the GenericMenu when pressing a button
+            if (GUILayout.Button("Tethered groups", EditorStyles.popup))
+            {
+                // create the menu and add items to it
+                GenericMenu menu = new GenericMenu();
+
+                // forward slashes nest menu items under submenus
+                for (int i = 0; i < editor.blueprint.groups.Count; ++i)
+                {
+                    menu.AddItem(new GUIContent(editor.blueprint.groups[i].name), tetheredGroups[i], OnTetherGroupSelected, i);
+                }
+
+                // display the menu
+                menu.DropDown(tetherDropdownRect);
+            }
+
+            if (Event.current.type == EventType.Repaint)
+                tetherDropdownRect = GUILayoutUtility.GetLastRect();
+
+
+            EditorGUILayout.BeginHorizontal();
+            if (GUILayout.Button("Generate tethers",GUILayout.MinHeight(32)))
+            {
+                // Select all particles in the tethered groups:
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; ++i)
+                {
+                    ObiActorBlueprintEditor.selectionStatus[i] = false;
+                    for (int j = 0; j < tetheredGroups.Length; ++j)
+                    {
+                        if (tetheredGroups[j] && editor.blueprint.groups[j].ContainsParticle(i))
+                        {
+                            ObiActorBlueprintEditor.selectionStatus[i] = true;
+                            break;
+                        }
+                    }
+                }
+
+                editor.blueprint.GenerateTethers(ObiActorBlueprintEditor.selectionStatus);
+                editor.Refresh();
+            }
+
+            if (GUILayout.Button("Clear tethers",GUILayout.MinHeight(32)))
+            {
+                editor.blueprint.ClearTethers();
+                editor.Refresh();
+            }
+            EditorGUILayout.EndHorizontal();
+
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta
new file mode 100644
index 00000000..fd2ba16f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6aefc9e7e74be461e93ee58f15c5a1dd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes.meta
new file mode 100644
index 00000000..23624c35
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 625a6e0c1ba72483190830373b7b45fe
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta
new file mode 100644
index 00000000..9bdbd1de
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4fc4d44dc6d334c2985875fc6f7b8cb1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs
new file mode 100644
index 00000000..4257fe69
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs
@@ -0,0 +1,9 @@
+namespace Obi
+{
+    public interface IObiBrushMode
+    {
+        string name{get;}
+        bool needsInputValue{ get; }
+        void ApplyStamps(ObiBrushBase brush, bool modified);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta
new file mode 100644
index 00000000..ab2580d1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4c46364da0f1641c7ab84e12348a6a4b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs
new file mode 100644
index 00000000..e094e7c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiColorPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintColorProperty property;
+
+        public ObiColorPaintBrushMode(ObiBlueprintColorProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    Color currentValue = property.Get(i);
+                    Color delta = brush.weights[i] * brush.opacity * brush.speed * (property.GetDefault() - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta
new file mode 100644
index 00000000..d9fe6014
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1fd033c8f79b1494d8b8de5c8311f8c1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs
new file mode 100644
index 00000000..a5fd9c63
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiColorSmoothBrushMode : IObiBrushMode
+    {
+        ObiBlueprintColorProperty property;
+
+        public ObiColorSmoothBrushMode(ObiBlueprintColorProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Smooth"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            Color averageValue = Color.black;
+            float totalWeight = 0;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    averageValue += property.Get(i) * brush.weights[i];
+                    totalWeight += brush.weights[i];
+                }
+
+            }
+            averageValue /= totalWeight;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    Color currentValue = property.Get(i);
+                    Color delta = brush.opacity * brush.speed * (Color.Lerp(currentValue, averageValue, brush.weights[i]) - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta
new file mode 100644
index 00000000..8a0a75a7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a69a8a1614478445cbb770a5e123ab18
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs
new file mode 100644
index 00000000..8c2a5aa8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs
@@ -0,0 +1,36 @@
+namespace Obi
+{
+    public class ObiFloatAddBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatAddBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Add"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = property.Get(i);
+                    float delta = brush.weights[i] * brush.opacity * brush.speed * property.GetDefault();
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta
new file mode 100644
index 00000000..66272b90
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8b39e10cedc94461083b3b19c3ddb343
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs
new file mode 100644
index 00000000..ae0b60fe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs
@@ -0,0 +1,42 @@
+namespace Obi
+{
+    public class ObiFloatCopyBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+        public ObiBlueprintFloatProperty source;
+
+        public ObiFloatCopyBrushMode(ObiBlueprintFloatProperty property, ObiBlueprintFloatProperty source)
+        {
+            this.property = property;
+            this.source = source;
+        }
+
+        public string name
+        {
+            get { return "Copy"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            if (property != null && source != null)
+            {
+                for (int i = 0; i < brush.weights.Length; ++i)
+                {
+                    if (!property.Masked(i) && brush.weights[i] > 0)
+                    {
+                        float currentValue = property.Get(i);
+                        float sourceValue = source.Get(i);
+                        float delta = brush.weights[i] * brush.opacity * brush.speed * (sourceValue - currentValue);
+
+                        property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta
new file mode 100644
index 00000000..a51236b7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 95bb470841f42415ab256cd64adb9242
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs
new file mode 100644
index 00000000..369a0d1e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs
@@ -0,0 +1,37 @@
+
+namespace Obi
+{
+    public class ObiFloatPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatPaintBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = property.Get(i);
+                    float delta = brush.weights[i] * brush.opacity * brush.speed * (property.GetDefault() - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta
new file mode 100644
index 00000000..94c33004
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eb3d176006d404a508bef284d2701ab0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs
new file mode 100644
index 00000000..35cfcdbc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiFloatSmoothBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatSmoothBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Smooth"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            var floatProperty = (ObiBlueprintFloatProperty)property;
+
+            float averageValue = 0;
+            float totalWeight = 0;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    averageValue += floatProperty.Get(i) * brush.weights[i];
+                    totalWeight += brush.weights[i];
+                }
+
+            }
+            averageValue /= totalWeight;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = floatProperty.Get(i);
+                    float delta = brush.opacity * brush.speed * (Mathf.Lerp(currentValue,averageValue,brush.weights[i]) - currentValue);
+
+                    floatProperty.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta
new file mode 100644
index 00000000..d3a486a2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 63dad56a994af4db7bb3449382022c54
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs
new file mode 100644
index 00000000..426e4c68
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs
@@ -0,0 +1,33 @@
+namespace Obi
+{
+    public class ObiIntPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintIntProperty property;
+
+        public ObiIntPaintBrushMode(ObiBlueprintIntProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > (1 - brush.opacity))
+                {
+                    property.Set(i, property.GetDefault());
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta
new file mode 100644
index 00000000..0bef4606
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d8882849c81104cef80b3dfdab2021c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs
new file mode 100644
index 00000000..2691275a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs
@@ -0,0 +1,39 @@
+namespace Obi
+{
+    public class ObiMasterSlavePaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintIntProperty property;
+
+        public ObiMasterSlavePaintBrushMode(ObiBlueprintIntProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Master/Slave paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > (1 - brush.opacity))
+                {
+                    int currentValue = property.Get(i);
+
+                    if (modified)
+                        currentValue &= ~(int)(1 << property.GetDefault());
+                    else currentValue |= (int)(1 << property.GetDefault());
+
+                    property.Set(i, currentValue);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta
new file mode 100644
index 00000000..83254b41
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 62f8e9adfc17440359a9b51005cd0948
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs
new file mode 100644
index 00000000..66d732c0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs
@@ -0,0 +1,33 @@
+namespace Obi
+{
+    public class ObiSelectBrushMode : IObiBrushMode
+    {
+        ObiBlueprintSelected property;
+        string customName;
+
+        public ObiSelectBrushMode(ObiBlueprintSelected property, string customName = "Select")
+        {
+            this.property = property;
+            this.customName = customName;
+        }
+
+        public string name
+        {
+            get { return customName; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (brush.weights[i] > 0 && !property.Masked(i))
+                    property.Set(i,!modified);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta
new file mode 100644
index 00000000..ed3edeab
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9cea7ef42253f4d2b9b5a222521cdee8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs
new file mode 100644
index 00000000..37951d48
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs
@@ -0,0 +1,161 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+
+    public abstract class ObiBrushBase
+    {
+        static int particleBrushHash = "ObiBrushHash".GetHashCode();
+
+        public IObiBrushMode brushMode;
+        public float radius = 1;
+        public float innerRadius = 0.5f;
+        public float opacity = 1;
+        public float[] weights = new float[0];
+        public bool drag = true;
+        public float speed = 0.1f;
+
+        protected int controlID;
+        protected Action onStrokeStart;
+        protected Action onStrokeUpdate;
+        protected Action onStrokeEnd;
+
+        public float SqrRadius
+        {
+            get{ return radius * radius; }
+        }
+
+        public ObiBrushBase(Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd)
+        {
+            this.onStrokeStart = onStrokeStart;
+            this.onStrokeUpdate = onStrokeUpdate;
+            this.onStrokeEnd = onStrokeEnd;
+        }
+
+        protected virtual float WeightFromDistance(float distance)
+        {
+            // anything outside the brush should have zero weight:
+            if (distance > radius)
+                return 0;
+            
+            float t = Mathf.InverseLerp(innerRadius * radius, radius, distance);
+            return Mathf.SmoothStep(1, 0, t);
+        }
+
+        protected abstract void GenerateWeights(Vector3[] positions);
+
+        protected virtual void OnMouseDown(Vector3[] positions)
+        {
+            if (Event.current.button != 0 || (Event.current.modifiers & ~EventModifiers.Shift) != EventModifiers.None)
+                return;
+
+            GUIUtility.hotControl = controlID;
+
+            GenerateWeights(positions);
+
+            if (onStrokeStart != null) 
+                onStrokeStart();
+
+            if (brushMode != null)
+                brushMode.ApplyStamps(this, (Event.current.modifiers & EventModifiers.Shift) != 0);
+
+            if (onStrokeUpdate != null)
+                onStrokeUpdate();
+
+            Event.current.Use();
+        }
+
+        protected virtual void OnMouseMove(Vector3[] positions)
+        {
+            
+        }
+
+        protected virtual void OnMouseDrag(Vector3[] positions)
+        {
+
+            if (GUIUtility.hotControl == controlID && drag)
+            {
+
+                GenerateWeights(positions);
+
+                if (brushMode != null)
+                    brushMode.ApplyStamps(this, (Event.current.modifiers & EventModifiers.Shift) != 0);
+
+                if (onStrokeUpdate != null)
+                    onStrokeUpdate();
+
+                Event.current.Use();
+
+            }
+        }
+
+        protected virtual void OnMouseUp(Vector3[] positions)
+        {
+            if (GUIUtility.hotControl == controlID)
+            {
+
+                GUIUtility.hotControl = 0;
+                Event.current.Use();
+
+                if (onStrokeEnd != null) 
+                    onStrokeEnd();
+            }
+        }
+
+        protected virtual void OnRepaint()
+        {
+        }
+
+        public void DoBrush(Vector3[] positions)
+        {
+
+            Matrix4x4 cachedMatrix = Handles.matrix;
+
+            controlID = GUIUtility.GetControlID(particleBrushHash, FocusType.Passive);
+            Array.Resize(ref weights, positions.Length);
+
+            switch (Event.current.GetTypeForControl(controlID))
+            {
+
+                case EventType.MouseDown:
+
+                    OnMouseDown(positions);
+
+                    break;
+
+                case EventType.MouseMove:
+
+                    OnMouseMove(positions);
+
+                    SceneView.RepaintAll();
+                    break;
+
+                case EventType.MouseDrag:
+
+                    OnMouseDrag(positions);
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    OnMouseUp(positions);
+
+                    break;
+
+                case EventType.Repaint:
+
+                    Handles.matrix = Matrix4x4.identity;
+
+                    OnRepaint();
+
+                    Handles.matrix = cachedMatrix;
+
+                    break;
+
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta
new file mode 100644
index 00000000..692767df
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 094253962d646436792561e708e62376
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs
new file mode 100644
index 00000000..c4bd65c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs
@@ -0,0 +1,51 @@
+using System;
+using UnityEngine;
+
+[Serializable]
+public struct ObiBrushMirrorSettings
+{
+    [Flags]
+    public enum MirrorAxis
+    {
+        None = 0x0,
+        X = 0x1,
+        Y = 0x2,
+        Z = 0x4
+    }
+
+    public enum MirrorSpace
+    {
+        World  = 0,
+        Camera = 1
+    }
+
+    public MirrorAxis axis;
+    public MirrorSpace space;
+
+    public Vector3 ToAxis()
+    {
+        uint m = (uint)axis;
+
+        bool xMirror = (m & (uint)MirrorAxis.X) > 0;
+        bool yMirror = (m & (uint)MirrorAxis.Y) > 0;
+        bool zMirror = (m & (uint)MirrorAxis.Z) > 0;
+
+        if (axis < 0 || ((int)axis > (int)MirrorAxis.X + (int)MirrorAxis.Y + (int)MirrorAxis.Z))
+        {
+            return Vector3.one;
+        }
+
+        Vector3 reflection = Vector3.one;
+
+        if (xMirror)
+            reflection.x = -1f;
+
+        if (yMirror)
+            reflection.y = -1f;
+
+        if (zMirror)
+            reflection.z = -1f;
+
+        return reflection;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta
new file mode 100644
index 00000000..d33b4379
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d10a9257ac23248418439eb80e02a611
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs
new file mode 100644
index 00000000..0578e888
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs
@@ -0,0 +1,125 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiRaycastBrush : ObiBrushBase
+    {
+        public Matrix4x4 raycastTransform = Matrix4x4.identity;
+        public Mesh raycastTarget = null;
+        public bool drawVolume = false;
+        private List<Ray> rays = new List<Ray>();
+        private List<ObiRaycastHit> hits = new List<ObiRaycastHit>();
+
+        public ObiBrushMirrorSettings mirror;
+
+        public ObiRaycastBrush(Mesh raycastTarget, Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd) : base(onStrokeStart, onStrokeUpdate, onStrokeEnd)
+        {
+            radius = 0.1f;
+            this.raycastTarget = raycastTarget;
+            rays = new List<Ray>();
+        }
+
+        protected override void GenerateWeights(Vector3[] positions)
+        {
+            if (raycastTarget != null)
+            {
+                rays.Clear();
+                hits.Clear();
+
+                for (int i = 0; i < positions.Length; i++)
+                    weights[i] = 0;
+
+                var vertices = raycastTarget.vertices;
+                var triangles = raycastTarget.triangles;
+
+                Ray mouseRay = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+                rays.Add(mouseRay);
+
+                ObiBrushMirrorSettings currentAxis = mirror;
+
+                if (mirror.axis != ObiBrushMirrorSettings.MirrorAxis.None)
+                {
+                    for (int i = 0; i < 3; i++)
+                    {
+                        currentAxis.axis = (ObiBrushMirrorSettings.MirrorAxis)(1u << i);
+                        if (((uint)mirror.axis & (1u << i)) < 1)
+                            continue;
+
+                        Vector3 mirrorVector = currentAxis.ToAxis();
+
+                        if (currentAxis.space == ObiBrushMirrorSettings.MirrorSpace.World)
+                        {
+                            Vector3 center = raycastTarget.bounds.center;
+                            rays.Add(new Ray(Vector3.Scale(mouseRay.origin - center, mirrorVector) + center,
+                                             Vector3.Scale(mouseRay.direction, mirrorVector)));
+                        }
+                        else
+                        {
+                            Transform t = SceneView.lastActiveSceneView.camera.transform;
+                            Vector3 o = t.InverseTransformPoint(mouseRay.origin);
+                            Vector3 d = t.InverseTransformDirection(mouseRay.direction);
+                            rays.Add(new Ray(t.TransformPoint(Vector3.Scale(o, mirrorVector)),
+                                             t.TransformDirection(Vector3.Scale(d, mirrorVector))));
+                        }
+                    }
+                }
+
+                foreach (var ray in rays)
+                {
+                    if (ObiMeshUtils.WorldRaycast(ray, raycastTransform, vertices, triangles, out ObiRaycastHit hit))
+                    {
+                        hit.position = raycastTransform.MultiplyPoint3x4(hit.position);
+                        hit.normal = raycastTransform.MultiplyVector(hit.normal);
+                        hits.Add(hit);
+
+                        for (int i = 0; i < positions.Length; i++)
+                        {
+                            // get distance from hit position to particle position:
+                            float weight = WeightFromDistance(Vector3.Distance(hit.position, positions[i]));
+                            weights[i] = Mathf.Max(weights[i], weight);
+                        }
+                    }
+                }
+            }
+        }
+
+		protected override void OnMouseMove(Vector3[] positions)
+        {
+            base.OnMouseMove(positions);
+            GenerateWeights(positions);
+		}
+
+		protected override void OnRepaint()
+		{
+            base.OnRepaint();
+
+            if (raycastTarget != null)
+            {
+                Color brushColor = ObiEditorSettings.GetOrCreateSettings().brushColor;
+
+                foreach (var hit in hits)
+                {
+                    if (hit != null && hit.triangle >= 0)
+                    {
+                        Handles.color = brushColor;
+                        Handles.DrawLine(hit.position, hit.position + hit.normal.normalized * radius);
+                        Handles.DrawWireDisc(hit.position, hit.normal, radius);
+                        Handles.DrawWireDisc(hit.position, hit.normal, innerRadius * radius);
+
+                        if (drawVolume)
+                        {
+                            Handles.color = new Color(brushColor.r, brushColor.g, brushColor.b, 0.2f);
+                            Handles.SphereHandleCap(0, hit.position, Quaternion.identity, radius * 2, EventType.Repaint);
+                        }
+                    }
+                }
+            }
+		}
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta
new file mode 100644
index 00000000..d3e4fb08
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d925323750dca4dcaa5cca91b18521b5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
new file mode 100644
index 00000000..341b491b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
@@ -0,0 +1,61 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiScreenSpaceBrush : ObiBrushBase
+    {
+        public ObiScreenSpaceBrush(Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd) : base(onStrokeStart, onStrokeUpdate, onStrokeEnd) 
+        {
+            radius = 32;
+        }
+       
+        protected override float WeightFromDistance(float distance)
+        {
+            // anything outside the brush should have zero weight:
+            if (distance * EditorGUIUtility.pixelsPerPoint > radius)
+                return 0;
+            return 1;
+        }
+
+        protected override void GenerateWeights(Vector3[] positions)
+        {
+            for (int i = 0; i < positions.Length; i++)
+            {
+                // get particle position in gui space:
+                Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                // get distance from mouse position to particle position:
+                weights[i] = WeightFromDistance(Vector3.Distance(Event.current.mousePosition, pos));
+            }
+        }
+
+        protected override void OnRepaint()
+        {
+            base.OnRepaint();
+
+            Camera cam = Camera.current;
+            float depth = (cam.nearClipPlane + cam.farClipPlane) * 0.5f;
+
+            float ppp = EditorGUIUtility.pixelsPerPoint;
+            Vector2 mousePos = new Vector2(Event.current.mousePosition.x * ppp,
+                                           cam.pixelHeight - Event.current.mousePosition.y * ppp);
+
+            Handles.color = ObiEditorSettings.GetOrCreateSettings().brushColor;
+            Vector3 point = new Vector3(mousePos.x, mousePos.y, depth);
+            Vector3 wsPoint = cam.ScreenToWorldPoint(point);
+
+            var p1 = cam.ScreenToWorldPoint(new Vector3(1, 0, depth));
+            var p2 = cam.ScreenToWorldPoint(new Vector3(0, 0, depth));
+            float units = Vector3.Distance(p1, p2);
+
+            Handles.DrawWireDisc(wsPoint, cam.transform.forward, radius * units);
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta
new file mode 100644
index 00000000..71c3ff40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 38fc5288fb3c94ebeb7eaa88a3bc5119
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
new file mode 100644
index 00000000..0e819c69
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
@@ -0,0 +1,477 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+using UnityEditor;
+using UnityEngine.SceneManagement;
+using UnityEditor.SceneManagement;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+using System.Linq;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiActorBlueprint), true)]
+    public class ObiActorBlueprintEditor : Editor, IObiSelectableParticleProvider
+    {
+        public List<ObiBlueprintEditorTool> tools = new List<ObiBlueprintEditorTool>();
+        public int currentToolIndex = 0;
+
+        public List<ObiBlueprintPropertyBase> properties = new List<ObiBlueprintPropertyBase>();
+        public int currentPropertyIndex = 0;
+
+        public List<ObiBlueprintRenderMode> renderModes = new List<ObiBlueprintRenderMode>();
+        public int renderModeFlags = 0;
+        BooleanPreference showRenderModes;
+
+        public bool autoGenerate = false;
+        public bool editMode = false;
+        public bool isEditing = false;
+        protected UnityEngine.Object oldSelection;
+
+        //Additional status info for all particles:
+        public static float dotRadiusScale = 1;
+        public static int selectedCount = 0;
+        public static int activeParticle = -1;
+        public static bool[] selectionStatus = new bool[0];
+
+        public bool[] visible = new bool[0];
+        public Color[] tint = new Color[0];
+        protected float[] sqrDistanceToCamera = new float[0];
+        public int[] sortedIndices = new int[0];
+
+        public ObiActorBlueprint blueprint
+        {
+            get { return target as ObiActorBlueprint; }
+        }
+
+        public ObiBlueprintPropertyBase currentProperty
+        {
+            get { return GetProperty(currentPropertyIndex); }
+        }
+
+        public ObiBlueprintEditorTool currentTool
+        {
+            get { return GetTool(currentToolIndex); }
+        }
+
+        public override bool UseDefaultMargins()
+        {
+            return false;
+        }
+
+        public ObiBlueprintPropertyBase GetProperty(int index)
+        {
+            return (properties.Count > index && index >= 0) ? properties[index] : null;
+        }
+
+        public ObiBlueprintEditorTool GetTool(int index)
+        {
+            return (tools.Count > index && index >= 0) ? tools[index] : null;
+        }
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        public virtual void OnEnable()
+        {
+            properties.Clear();
+            renderModes.Clear();
+            tools.Clear();
+
+            properties.Add(new ObiBlueprintMass(this));
+            properties.Add(new ObiBlueprintRadius(this));
+            properties.Add(new ObiBlueprintFilterCategory(this));
+            properties.Add(new ObiBlueprintFilterMask(this));
+
+            renderModes.Add(new ObiBlueprintRenderModeParticles(this));
+            showRenderModes = new BooleanPreference($"{target.GetType()}.showRenderModes", false);
+
+#if (UNITY_2019_1_OR_NEWER)
+            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { DrawWithCamera(cam); });
+            RenderPipelineManager.beginCameraRendering += renderCallback;
+#endif
+            Camera.onPreCull += DrawWithCamera;
+            SceneView.duringSceneGui += OnSceneGUI;
+
+            EditorApplication.playModeStateChanged += OnPlayModeStateChanged;
+        }
+
+        public virtual void OnDisable()
+        {
+            ExitBlueprintEditMode();
+
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= DrawWithCamera;
+            SceneView.duringSceneGui -= OnSceneGUI;
+            EditorApplication.playModeStateChanged -= OnPlayModeStateChanged;
+
+            foreach (var tool in tools)
+            {
+                tool.OnDisable();
+                tool.OnDestroy();
+            }
+
+            foreach (var renderMode in renderModes)
+            {
+                renderMode.OnDestroy();
+            }
+        }
+
+        void OnPlayModeStateChanged(PlayModeStateChange playmodeState)
+        {
+            if (playmodeState == PlayModeStateChange.ExitingEditMode)
+            {
+                if (StageUtility.GetCurrentStage() is ObiActorBlueprintEditorStage)
+                    StageUtility.GoToMainStage();
+            }
+        }
+
+        protected bool Generate()
+        {
+            if (!blueprint.edited)
+            {
+                EditorUtility.SetDirty(target);
+                CoroutineJob job = new CoroutineJob();
+                IEnumerator routine = job.Start(blueprint.Generate());
+                EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", routine);
+                Refresh();
+                EditorGUIUtility.ExitGUI();
+            }
+            else
+            {
+                if (EditorUtility.DisplayDialog("Blueprint generation", "This blueprint contains manually edited data. If you regenerate the blueprint, these changes will be lost. Are you sure you want to proceed?", "Ok", "Cancel"))
+                {
+                    EditorUtility.SetDirty(target);
+                    CoroutineJob job = new CoroutineJob();
+                    IEnumerator routine = job.Start(blueprint.Generate());
+                    EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", routine);
+                    Refresh();
+                    EditorGUIUtility.ExitGUI();
+                }
+                else return false;
+            }
+            return true;
+        }
+
+        protected virtual bool ValidateBlueprint() { return true; }
+
+        private void DrawGenerationControls()
+        {
+            GUILayout.BeginHorizontal();
+
+                float originalLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 72;
+                autoGenerate = EditorGUILayout.ToggleLeft("Auto Generate", autoGenerate, GUILayout.ExpandWidth(false));
+                EditorGUIUtility.labelWidth = originalLabelWidth;
+
+                GUI.enabled = !autoGenerate;
+                if (GUILayout.Button("Generate", GUI.skin.FindStyle("LargeButton"), GUILayout.Height(32)))
+                    Generate();
+
+            GUILayout.EndHorizontal();
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+            EditorGUI.BeginChangeCheck();
+            DrawBlueprintProperties();
+            bool blueprintPropertiesChanged = EditorGUI.EndChangeCheck();
+            bool blueprintValid = ValidateBlueprint();
+
+            GUILayout.Space(10);
+
+            GUI.enabled = blueprintValid;
+            DrawGenerationControls();
+
+            GUI.enabled = (blueprint != null && !blueprint.empty && !Application.isPlaying);
+            EditorGUI.BeginChangeCheck();
+            editMode = GUILayout.Toggle(editMode, editMode ? "Done" : "Edit", "Button");
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (editMode)
+                    EditorApplication.delayCall += EnterBlueprintEditMode;
+                else
+                    EditorApplication.delayCall += ExitBlueprintEditMode;
+            }
+            EditorGUILayout.EndVertical();
+            GUI.enabled = true;
+
+            if (isEditing)
+                DrawTools();
+
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedPropertiesWithoutUndo();
+
+                if (autoGenerate && blueprintValid && blueprintPropertiesChanged)             
+                    blueprint.GenerateImmediate();
+
+                // There might be blueprint editing operations that have no undo entry, so do this to 
+                // ensure changes are serialized to disk by Unity.
+                EditorUtility.SetDirty(target);
+            }
+
+        }
+
+        protected virtual void DrawBlueprintProperties()
+        {
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+        }
+
+        private void DrawWithCamera(Camera camera)
+        {
+            if (editMode)
+            {
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    if ((1 << i & renderModeFlags) != 0)
+                        renderModes[i].DrawWithCamera(camera);
+                }
+            }
+        }
+
+        void EnterBlueprintEditMode()
+        {
+            if (!isEditing)
+            {
+                ActiveEditorTracker.sharedTracker.isLocked = true;
+
+                string assetPath = AssetDatabase.GetAssetPath(blueprint);
+                ObiActorBlueprintEditorStage stage = ObiActorBlueprintEditorStage.CreateStage(assetPath, this);
+                StageUtility.GoToStage(stage, true);
+
+                isEditing = true;
+            }
+        }
+
+        void ExitBlueprintEditMode()
+        {
+            if (isEditing)
+            {
+                isEditing = false;
+                AssetDatabase.SaveAssets();
+                StageUtility.GoToMainStage();
+            }
+        }
+
+        public void CleanupEditor()
+        {
+            ActiveEditorTracker.sharedTracker.isLocked = false;
+            ObiParticleEditorDrawing.DestroyParticlesMesh();
+        }
+
+        public virtual void OnSceneGUI(SceneView sceneView)
+        {
+
+            if (!isEditing || sceneView.camera == null)
+                return;
+
+            ResizeParticleArrays();
+
+            Event e = Event.current;
+
+            if (e.type == EventType.Repaint)
+            {
+
+                // Update camera facing status and world space positions array:
+                UpdateParticleVisibility(sceneView.camera);
+
+                // Generate sorted indices for back-to-front rendering:
+                for (int i = 0; i < sortedIndices.Length; i++)
+                    sortedIndices[i] = i;
+                Array.Sort<int>(sortedIndices, (a, b) => sqrDistanceToCamera[b].CompareTo(sqrDistanceToCamera[a]));
+
+                // render modes OnSceneRepaint:
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    if ((1 << i & renderModeFlags) != 0)
+                        renderModes[i].OnSceneRepaint(sceneView);
+                }
+
+                // property OnSceneRepaint:
+                currentProperty.OnSceneRepaint();
+
+                // update particle color based on visiblity, etc.
+                UpdateTintColor();
+
+                // Draw particle handles:
+                ObiParticleEditorDrawing.DrawParticles(sceneView.camera, blueprint, visible, tint, sortedIndices, dotRadiusScale);
+
+            }
+
+            if (currentTool != null)
+                currentTool.OnSceneGUI(sceneView);
+
+        }
+
+        protected virtual void UpdateTintColor()
+        {
+            Color regularColor = ObiEditorSettings.GetOrCreateSettings().particleColor;
+            Color selectedColor = ObiEditorSettings.GetOrCreateSettings().selectedParticleColor;
+            Color activeColor = ObiEditorSettings.GetOrCreateSettings().activeParticleColor;
+
+            for (int i = 0; i < blueprint.positions.Length; i++)
+            {
+                // get particle color:
+                if (activeParticle == i)
+                    tint[i] = activeColor;
+                else
+                    tint[i] = selectionStatus[i] ? selectedColor : regularColor;
+
+                tint[i].a = visible[i] ? 1 : 0.15f;
+            }
+        }
+
+        protected void ResizeParticleArrays()
+        {
+            if (blueprint.positions != null)
+            {
+                activeParticle = Mathf.Min(activeParticle, blueprint.positions.Length - 1);
+                Array.Resize(ref selectionStatus, blueprint.positions.Length);
+                Array.Resize(ref visible, blueprint.positions.Length);
+                Array.Resize(ref tint, blueprint.positions.Length);
+                Array.Resize(ref sqrDistanceToCamera, blueprint.positions.Length);
+                Array.Resize(ref sortedIndices, blueprint.positions.Length);
+            }
+
+        }
+
+        public int PropertySelector(int propertyIndex, string label = "Property")
+        {
+            // get all particle properties:
+            string[] propertyNames = new string[properties.Count];
+            for (int i = 0; i < properties.Count; ++i)
+                propertyNames[i] = properties[i].name;
+
+            // Draw a selection dropdown:
+            return EditorGUILayout.Popup(label, propertyIndex, propertyNames);
+        }
+
+        public virtual void RenderModeSelector()
+        {
+            showRenderModes.value = EditorGUILayout.BeginFoldoutHeaderGroup(showRenderModes, "Render modes");
+            if (showRenderModes)
+            {
+                EditorGUI.BeginChangeCheck();
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    int value = 1 << i;
+
+                    if (EditorGUILayout.Toggle(renderModes[i].name, (value & renderModeFlags) != 0))
+                        renderModeFlags |= value;
+                    else
+                        renderModeFlags &= ~value;
+                }
+                if (EditorGUI.EndChangeCheck())
+                    Refresh();
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+        }
+
+        public void Refresh()
+        {
+            // currentProperty might be null after reloading editor during
+            // asset saving.
+            currentProperty?.RecalculateMinMax();
+
+            // refresh render modes:
+            for (int i = 0; i < renderModes.Count; ++i)
+            {
+                if ((1 << i & renderModeFlags) != 0)
+                    renderModes[i].Refresh();
+            }
+
+            SceneView.RepaintAll();
+        }
+
+        public virtual void UpdateParticleVisibility(Camera cam)
+        {
+
+            for (int i = 0; i < blueprint.positions.Length; i++)
+            {
+                if (blueprint.IsParticleActive(i))
+                {
+                    visible[i] = true;
+
+                    if (Camera.current != null)
+                    {
+                        Vector3 camToParticle = cam.transform.position - blueprint.positions[i];
+                        sqrDistanceToCamera[i] = camToParticle.sqrMagnitude;
+                    }
+                }
+            }
+
+            if ((renderModeFlags & 1) != 0)
+                Refresh();
+        }
+
+        protected void DrawTools()
+        {
+
+            GUIContent[] contents = new GUIContent[tools.Count];
+
+            for (int i = 0; i < tools.Count; ++i)
+                contents[i] = new GUIContent(tools[i].icon, tools[i].name);
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+            EditorGUILayout.Space();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUI.BeginChangeCheck();
+            int newSelectedTool = ObiEditorUtils.DoToolBar(currentToolIndex, contents);
+            EditorGUILayout.EndVertical();
+
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (currentTool != null)
+                    currentTool.OnDisable();
+
+                currentToolIndex = newSelectedTool;
+
+                if (currentTool != null)
+                    currentTool.OnEnable();
+
+                SceneView.RepaintAll();
+            }
+
+            if (currentTool != null)
+            {
+                EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+                EditorGUILayout.LabelField(currentTool.name, EditorStyles.boldLabel);
+
+                string help = currentTool.GetHelpString();
+                if (!help.Equals(string.Empty))
+                    EditorGUILayout.LabelField(help, EditorStyles.helpBox);
+                EditorGUILayout.EndVertical();
+
+                currentTool.OnInspectorGUI();
+            }
+
+        }
+
+        public void SetSelected(int particleIndex, bool selected)
+        {
+            selectionStatus[particleIndex] = selected;
+        }
+
+        public bool IsSelected(int particleIndex)
+        {
+            return selectionStatus[particleIndex];
+        }
+
+        public bool Editable(int particleIndex)
+        {
+            return currentTool.Editable(particleIndex) && blueprint.IsParticleActive(particleIndex);
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta
new file mode 100644
index 00000000..c1fbbade
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e39e6eea226f4ecbbe091613ff79f85
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs
new file mode 100644
index 00000000..561ee897
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs
@@ -0,0 +1,72 @@
+using System;
+using System.IO;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    class ObiActorBlueprintEditorStage : PreviewSceneStage
+    {
+        ObiActorBlueprintEditor m_BlueprintEditor;
+
+        string m_AssetPath;
+        public override string assetPath { get { return m_AssetPath; } }
+
+        internal static ObiActorBlueprintEditorStage CreateStage(string assetPath, ObiActorBlueprintEditor avatarEditor)
+        {
+            ObiActorBlueprintEditorStage stage = CreateInstance<ObiActorBlueprintEditorStage>();
+            stage.Init(assetPath, avatarEditor);
+            return stage;
+        }
+
+        private void Init(string modelAssetPath, ObiActorBlueprintEditor avatarEditor)
+        {
+            m_AssetPath = modelAssetPath;
+            m_BlueprintEditor = avatarEditor;
+        }
+
+        protected override bool OnOpenStage()
+        {
+            base.OnOpenStage();
+
+            if (!File.Exists(assetPath))
+            {
+                Debug.LogError("ActivateStage called on BlueprintStage with an invalid path: Blueprint file not found " + assetPath);
+                return false;
+            }
+
+            return true;
+        }
+
+        protected override void OnCloseStage()
+        {
+            m_BlueprintEditor.CleanupEditor();
+
+            base.OnCloseStage();
+        }
+
+        protected override void OnFirstTimeOpenStageInSceneView(SceneView sceneView)
+        {
+            // Frame in scene view
+            sceneView.Frame(m_BlueprintEditor.blueprint.bounds);
+
+            // Setup Scene view state
+            sceneView.sceneViewState.showFlares = false;
+            sceneView.sceneViewState.alwaysRefresh = false;
+            sceneView.sceneViewState.showFog = false;
+            sceneView.sceneViewState.showSkybox = false;
+            sceneView.sceneViewState.showImageEffects = false;
+            sceneView.sceneViewState.showParticleSystems = false;
+            sceneView.sceneLighting = true;
+        }
+
+        protected override GUIContent CreateHeaderContent()
+        {
+            return new GUIContent(
+                "Blueprint Editor",
+                Resources.Load<Texture2D>("Icons/ObiActorBlueprint Icon"));
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta
new file mode 100644
index 00000000..91b16abe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4c8d9d8042d49436c89c515b001088ac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
new file mode 100644
index 00000000..98630677
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
@@ -0,0 +1,275 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.IO;
+
+namespace Obi
+{
+    [CustomEditor(typeof(ObiMeshBasedActorBlueprint), true)]
+    public abstract class ObiMeshBasedActorBlueprintEditor : ObiActorBlueprintEditor
+    {
+
+        [Flags]
+        public enum ParticleCulling
+        {
+            Off = 0,
+            Back = 1 << 0,
+            Front = 1 << 1
+        }
+
+        protected Mesh visualizationMesh;
+        protected Mesh visualizationWireMesh;
+        public ParticleCulling particleCulling = ParticleCulling.Back;
+       
+        protected Material gradientMaterial;
+        protected Material textureExportMaterial;
+        protected Material paddingMaterial;
+
+        public override void OnEnable()
+        {
+            base.OnEnable();
+            gradientMaterial = Resources.Load<Material>("PropertyGradientMaterial");
+            textureExportMaterial = Resources.Load<Material>("UVSpaceColorMaterial");
+            paddingMaterial = Resources.Load<Material>("PaddingMaterial");
+        }
+
+        public abstract Mesh sourceMesh
+        {
+            get;
+        }
+
+        protected void NonReadableMeshWarning(Mesh mesh)
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.helpBox);
+            Texture2D icon = EditorGUIUtility.Load("icons/console.erroricon.png") as Texture2D;
+            EditorGUILayout.LabelField(new GUIContent("The input mesh is not readable. Read/Write must be enabled in the mesh import settings.", icon), EditorStyles.wordWrappedMiniLabel);
+
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            if (GUILayout.Button("Fix now", GUILayout.MaxWidth(100), GUILayout.MinHeight(32)))
+            {
+                string assetPath = AssetDatabase.GetAssetPath(mesh);
+                ModelImporter modelImporter = AssetImporter.GetAtPath(assetPath) as ModelImporter;
+                if (modelImporter != null)
+                {
+                    modelImporter.isReadable = true;
+                }
+                modelImporter.SaveAndReimport();
+            }
+            EditorGUILayout.EndHorizontal();
+            EditorGUILayout.EndVertical();
+        }
+
+        protected override bool ValidateBlueprint()
+        {
+            if (sourceMesh != null)
+            {
+                if (!sourceMesh.isReadable)
+                {
+                    NonReadableMeshWarning(sourceMesh);
+                    return false;
+                }
+                return true;
+            }
+            return false;
+        }
+
+        public abstract int VertexToParticle(int vertexIndex);
+
+        public override void UpdateParticleVisibility(Camera cam)
+        {
+            if (cam != null)
+            {
+                for (int i = 0; i < blueprint.positions.Length; i++)
+                {
+                    if (blueprint.IsParticleActive(i))
+                    {
+                        Vector3 camToParticle = cam.transform.position - blueprint.positions[i];
+                        sqrDistanceToCamera[i] = camToParticle.sqrMagnitude;
+
+                        Vector3 normal;
+
+                        switch (particleCulling)
+                        {
+                            case ParticleCulling.Off:
+                                visible[i] = true;
+                                break;
+                            case ParticleCulling.Back:
+                                normal = blueprint.restOrientations[i] * Vector3.forward;
+                                visible[i] = Vector3.Dot(normal, camToParticle) > 0;
+                                break;
+                            case ParticleCulling.Front:
+                                normal = blueprint.restOrientations[i] * Vector3.forward;
+                                visible[i] = Vector3.Dot(normal, camToParticle) <= 0;
+                                break;
+                        }
+                    }
+                }
+
+                if ((renderModeFlags & 1) != 0)
+                    Refresh();
+            }
+        }
+
+        public void DrawGradientMesh(float[] vertexWeights = null, float[] wireframeWeights = null)
+        {
+            // Due to this Unity bug: https://issuetracker.unity3d.com/issues/drawmeshnow-is-not-drawing-mesh-immediately-dx12
+            // we need to create two meshes insteaf of one :(
+            if (sourceMesh == null)
+                return;
+
+            visualizationMesh = GameObject.Instantiate(sourceMesh);
+            visualizationWireMesh = GameObject.Instantiate(sourceMesh);
+
+            if (gradientMaterial.SetPass(0))
+            {
+                var matrix = Matrix4x4.TRS(Vector3.zero, (blueprint as ObiMeshBasedActorBlueprint).rotation, (blueprint as ObiMeshBasedActorBlueprint).scale);
+
+                Color[] colors = new Color[visualizationMesh.vertexCount];
+                for (int i = 0; i < colors.Length; i++)
+                {
+                    int particle = VertexToParticle(i);
+                    if (particle >= 0 && particle < blueprint.particleCount)
+                    {
+                        float weight = 1;
+                        if (vertexWeights != null)
+                            weight = vertexWeights[particle];
+
+                        colors[i] = weight * currentProperty.ToColor(particle);
+                    }
+                    else
+                        colors[i] = Color.gray;
+                }
+
+                visualizationMesh.colors = colors;
+                Graphics.DrawMeshNow(visualizationMesh, matrix);
+
+                Color wireColor = ObiEditorSettings.GetOrCreateSettings().brushWireframeColor;
+
+                if (gradientMaterial.SetPass(1))
+                {
+                    for (int i = 0; i < colors.Length; i++)
+                    {
+                        int particle = VertexToParticle(i);
+                        if (particle >= 0 && particle < blueprint.particleCount)
+                        {
+                            if (wireframeWeights != null)
+                                colors[i] = wireColor * wireframeWeights[particle];
+                            else
+                                colors[i] = wireColor;
+                        }
+                        else
+                            colors[i] = Color.gray;
+                    }
+
+                    visualizationWireMesh.colors = colors;
+                    GL.wireframe = true;
+                    Graphics.DrawMeshNow(visualizationWireMesh, matrix);
+                    GL.wireframe = false;
+                }
+
+            }
+
+            GameObject.DestroyImmediate(visualizationMesh);
+            GameObject.DestroyImmediate(visualizationWireMesh);
+        }
+
+      
+        /**
+         * Reads particle data from a 2D texture. Can be used to adjust per particle mass, skin radius, etc. using 
+         * a texture instead of painting it in the editor. 
+         *  
+         * Will call onReadProperty once for each particle, passing the particle index and the bilinearly interpolated 
+         * color of the texture at its coordinate.
+         *
+         * Be aware that, if a particle corresponds to more than
+         * one physical vertex and has multiple uv coordinates, 
+         * onReadProperty will be called multiple times for that particle.
+         */
+        public bool ReadParticlePropertyFromTexture(Texture2D source, Action<int, Color> onReadProperty)
+        {
+
+            if (source == null || onReadProperty == null)
+                return false;
+
+            Vector2[] uvs = sourceMesh.uv;
+
+            // Iterate over all vertices in the mesh reading back colors from the texture:
+            for (int i = 0; i < sourceMesh.vertexCount; ++i)
+            {
+                try
+                {
+                    onReadProperty(VertexToParticle(i), source.GetPixelBilinear(uvs[i].x, uvs[i].y));
+                }
+                catch (UnityException e)
+                {
+                    Debug.LogException(e);
+                    return false;
+                }
+            }
+
+            return true;
+        }
+
+        public bool WriteParticlePropertyToTexture(string path, int width, int height, int padding)
+        {
+
+            if (path == null || textureExportMaterial == null || !textureExportMaterial.SetPass(0))
+                return false;
+
+            if (visualizationMesh == null)
+            {
+                visualizationMesh = GameObject.Instantiate(sourceMesh);
+            }
+            
+            RenderTexture tempRT = RenderTexture.GetTemporary(width, height, 0);
+            RenderTexture paddingRT = RenderTexture.GetTemporary(width, height, 0);
+
+            RenderTexture old = RenderTexture.active;
+            RenderTexture.active = tempRT;
+
+            GL.PushMatrix();
+
+            var proj = Matrix4x4.Ortho(0, 1, 0, 1, -1, 1);
            if (Camera.current != null) proj = proj * Camera.current.worldToCameraMatrix.inverse;
            GL.LoadProjectionMatrix(proj);
+
+            Color[] colors = new Color[sourceMesh.vertexCount];
+            for (int i = 0; i < colors.Length; i++)
+                colors[i] = currentProperty.ToColor(VertexToParticle(i));
+
+            visualizationMesh.colors = colors;
+            Graphics.DrawMeshNow(visualizationMesh, Matrix4x4.identity);
+
+            GL.PopMatrix();
+
+            // Perform padding/edge dilation
+            paddingMaterial.SetFloat("_Padding", padding);
+            Graphics.Blit(tempRT, paddingRT, paddingMaterial);
+
+            // Read result into our Texture2D.
+            RenderTexture.active = paddingRT;
+            Texture2D texture = new Texture2D(width, height, TextureFormat.RGBA32, false);
+            texture.ReadPixels(new Rect(0, 0, width, height), 0, 0);
+
+            RenderTexture.active = old;
+            RenderTexture.ReleaseTemporary(paddingRT);
+            RenderTexture.ReleaseTemporary(tempRT);
+
+            byte[] png = texture.EncodeToPNG();
+            GameObject.DestroyImmediate(texture);
+
+            try
+            {
+                File.WriteAllBytes(path, png);
+            }
+            catch (Exception e)
+            {
+                Debug.LogException(e);
+                return false;
+            }
+
+            AssetDatabase.Refresh();
+
+            return true;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta
new file mode 100644
index 00000000..497250ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c81a94632ae434014aedb4cc241e73e2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs
new file mode 100644
index 00000000..02ae7b5d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs
@@ -0,0 +1,93 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public static class ObiMeshUtils
+    {
+        // Temporary vector3 values
+        static Vector3 tv1, tv2, tv3, tv4;
+
+        public static bool RayIntersectsTriangle(Vector3 origin,
+                                                 Vector3 dir,
+                                                 Vector3 vert0,
+                                                 Vector3 vert1,
+                                                 Vector3 vert2,
+                                                 ref float distance,
+                                                 ref Vector3 normal)
+        {
+            float det;
+
+            ObiVectorMath.Subtract(vert0, vert1, ref tv1);
+            ObiVectorMath.Subtract(vert0, vert2, ref tv2);
+
+            ObiVectorMath.Cross(dir, tv2, ref tv4);
+            det = Vector3.Dot(tv1, tv4);
+
+            if (det < Mathf.Epsilon)
+                return false;
+
+            ObiVectorMath.Subtract(vert0, origin, ref tv3);
+
+            float u = Vector3.Dot(tv3, tv4);
+
+            if (u < 0f || u > det)
+                return false;
+
+            ObiVectorMath.Cross(tv3, tv1, ref tv4);
+
+            float v = Vector3.Dot(dir, tv4);
+
+            if (v < 0f || u + v > det)
+                return false;
+
+            distance = Vector3.Dot(tv2, tv4) * (1f / det);
+            ObiVectorMath.Cross(tv1, tv2, ref normal);
+
+            return true;
+        }
+
        /**
        * Find the nearest triangle intersected by InWorldRay on this mesh.  InWorldRay is in world space.
        * @hit contains information about the hit point.  @distance limits how far from @InWorldRay.origin the hit
        * point may be.  @cullingMode determines what face orientations are tested (Culling.Front only tests front
        * faces, Culling.Back only tests back faces, and Culling.FrontBack tests both).
        * Ray origin and position values are in local space.
        */
        public static bool WorldRaycast(Ray InWorldRay, Matrix4x4 transform, Vector3[] vertices, int[] triangles, out ObiRaycastHit hit, float distance = Mathf.Infinity)
        {
+            Ray ray = InWorldRay;
+            if (transform != null)
+            {
+                Matrix4x4 inv = transform.inverse;
+                ray.origin = inv.MultiplyPoint3x4(ray.origin);
+                ray.direction = inv.MultiplyVector(ray.direction);
+            }
            return MeshRaycast(ray, vertices, triangles, out hit, distance);
        }

        /**
        *  Cast a ray (in model space) against a mesh.
        */
        public static bool MeshRaycast(Ray InRay, Vector3[] vertices, int[] triangles, out ObiRaycastHit hit, float distance = Mathf.Infinity)
        {
+            Vector3 hitNormal = Vector3.zero;   // vars used in loop
+            Vector3 vert0, vert1, vert2;
+            Vector3 origin = InRay.origin, direction = InRay.direction;
+
+            hit = new ObiRaycastHit(Mathf.Infinity,
+                                    Vector3.zero,
+                                    Vector3.zero,
+                                    -1);
+            /**
+             * Iterate faces, testing for nearest hit to ray origin.
+             */
+            for (int CurTri = 0; CurTri < triangles.Length; CurTri += 3)
+            {
+                if (CurTri + 2 >= triangles.Length) continue;
+                if (triangles[CurTri + 2] >= vertices.Length) continue;
+
+                vert0 = vertices[triangles[CurTri + 0]];
+                vert1 = vertices[triangles[CurTri + 1]];
+                vert2 = vertices[triangles[CurTri + 2]];
+
+                // Second pass, test intersection with triangle
+                if (RayIntersectsTriangle(origin, direction, vert0, vert1, vert2, ref distance, ref hitNormal))
+                {
+                    if (distance < hit.distance)
+                    {
+                        hit.distance = distance;
+                        hit.triangle = CurTri / 3;
+                        hit.position = InRay.GetPoint(hit.distance);
+                        hit.normal = hitNormal;
+                    }
+                }
+            }
+
+            return hit.triangle > -1;
        }
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta
new file mode 100644
index 00000000..90c00ab9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4d2a4dd4e807c4053b4e4af4d43db45e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
new file mode 100644
index 00000000..b3af4d4a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
@@ -0,0 +1,127 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiParticleEditorDrawing : MonoBehaviour
+    {
+        public static Mesh particlesMesh;
+        public static Material particleMaterial;
+
+        private static void CreateParticlesMesh()
+        {
+            if (particlesMesh == null)
+            {
+                particlesMesh = new Mesh();
+                particlesMesh.hideFlags = HideFlags.HideAndDontSave;
+            }
+        }
+
+        private static void CreateParticleMaterials()
+        {
+            if (!particleMaterial)
+            {
+                particleMaterial = Resources.Load<Material>("EditorParticle");
+            }
+        }
+
+        public static void DestroyParticlesMesh()
+        {
+            GameObject.DestroyImmediate(particlesMesh);
+        }
+
+        public static void DrawParticles(Camera cam, ObiActorBlueprint blueprint, bool[] visible, Color[] baseColor, int[] sortedIndices, float radiusScale = 1)
+        {
+            CreateParticlesMesh();
+            CreateParticleMaterials();
+
+            if (!particleMaterial.SetPass(0))
+                return;
+
+            //because each vertex needs to be drawn as a quad.
+            int particlesPerDrawcall = Constants.maxVertsPerMesh / 4;
+            int drawcallCount = blueprint.particleCount / particlesPerDrawcall + 1;
+            particlesPerDrawcall = Mathf.Min(particlesPerDrawcall, blueprint.particleCount);
+
+            List<Vector3> vertices = new List<Vector3>(blueprint.activeParticleCount* 4);
+            List<Vector3> normals = new List<Vector3>(blueprint.activeParticleCount * 4);
+            List<Vector4> uvs = new List<Vector4>(blueprint.activeParticleCount * 4);
+            List<Color> colors = new List<Color>(blueprint.activeParticleCount * 4);
+            List<int> triangles = new List<int>(blueprint.activeParticleCount * 6);
+
+            Vector3 particleOffset0 = new Vector3(1, 1, 0);
+            Vector3 particleOffset1 = new Vector3(-1, 1, 0);
+            Vector3 particleOffset2 = new Vector3(-1, -1, 0);
+            Vector3 particleOffset3 = new Vector3(1, -1, 0);
+
+            Vector4 radius = new Vector4(1, 0, 0, 0.005f * radiusScale);
+
+            for (int i = 0; i < drawcallCount; ++i)
+            {
+                //Draw all cloth vertices:      
+                particlesMesh.Clear();
+                vertices.Clear();
+                uvs.Clear();
+                normals.Clear();
+                colors.Clear();
+                triangles.Clear();
+
+                int index = 0;
+
+                // Run over all particles (not only active ones), since they're reordered based on distance to camera.
+                // Then test if the sorted index is active or not, and skip inactive ones.
+                int limit = Mathf.Min((i + 1) * particlesPerDrawcall, blueprint.particleCount);
+
+                for (int j = i * particlesPerDrawcall; j < limit; ++j)
+                {
+                    int sortedIndex = sortedIndices[j];
+
+                    // skip inactive ones: 
+                    if (!blueprint.IsParticleActive(sortedIndex))
+                        continue;
+
+                    normals.Add(particleOffset0);
+                    normals.Add(particleOffset1);
+                    normals.Add(particleOffset2);
+                    normals.Add(particleOffset3);
+
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+
+                    triangles.Add(index + 2);
+                    triangles.Add(index + 1);
+                    triangles.Add(index);
+                    triangles.Add(index + 3);
+                    triangles.Add(index + 2);
+                    triangles.Add(index);
+
+                    index += 4;
+                }
+
+                particlesMesh.SetVertices(vertices);
+                particlesMesh.SetNormals(normals);
+                particlesMesh.SetColors(colors);
+                particlesMesh.SetUVs(0, uvs);
+                particlesMesh.SetTriangles(triangles,0, true);
+
+                Graphics.DrawMeshNow(particlesMesh, Matrix4x4.identity);
+            }
+        }
+
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta
new file mode 100644
index 00000000..561f8c74
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 982f73e0e40c749f09db403624bbd8e1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties.meta
new file mode 100644
index 00000000..1efd01e8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties.meta
@@ -0,0 +1,8 @@
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+guid: dfda10b0e82f747998295540d5750108
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta
new file mode 100644
index 00000000..1de2e12b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7b9ba4ddc644a4bfa8ab44a5826b8007
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs
new file mode 100644
index 00000000..d3b35a8d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs
@@ -0,0 +1,24 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintBoolProperty : ObiBlueprintProperty<bool>
+    {
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.Toggle(name, value);
+        }
+
+        public override Color ToColor(int index)
+        {
+            return value ? Color.white : Color.gray;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta
new file mode 100644
index 00000000..719c085a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 19cb8e21747094d6dae8dff155654066
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs
new file mode 100644
index 00000000..a62d0c3b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs
@@ -0,0 +1,31 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintColorProperty : ObiBlueprintProperty<Color>
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintColorProperty(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.ColorField(name, value);
+        }
+
+        public override Color ToColor(int index)
+        {
+            return editor.blueprint.colors[index];
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta
new file mode 100644
index 00000000..226bed79
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 64ab0b4fad7614808acc3cdb75215c50
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs
new file mode 100644
index 00000000..8b521744
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintFloatProperty : ObiBlueprintProperty<float>
+    {
+        public float minVisualizationValue = 0;
+        public float maxVisualizationValue = 10;
+        protected float minUserVisualizationValue = 0;
+        protected float maxUserVisualizationValue = 10;
+
+        protected float? minValue = null;
+        protected float? maxValue = null;
+
+        public bool autoRange = true;
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFloatProperty(ObiActorBlueprintEditor editor, float? minValue = null, float? maxValue = null)
+        {
+            this.editor = editor;
+            this.minValue = minValue;
+            this.maxValue = maxValue;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            float v1 = Get(firstIndex);
+            float v2 = Get(secondIndex);
+            if (v1 == v2) return true; 
+            return Mathf.Approximately(v1,v2);
+        }
+
+        public override void PropertyField()
+        {
+            EditorGUI.BeginChangeCheck();
+            value = EditorGUILayout.FloatField(name, value);
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (minValue.HasValue)
+                    value = Mathf.Max(minValue.Value, value);
+                if (maxValue.HasValue)
+                    value = Mathf.Min(maxValue.Value, value);
+            }
+        }
+
+		public override void RecalculateMinMax()
+		{
+            if (editor != null && autoRange)
+            {
+                maxVisualizationValue = float.MinValue;
+                minVisualizationValue = float.MaxValue;
+
+                for (int i = 0; i < editor.blueprint.activeParticleCount; i++)
+                {
+                    float v = Get(i);
+                    maxVisualizationValue = Mathf.Max(maxVisualizationValue, v);
+                    minVisualizationValue = Mathf.Min(minVisualizationValue, v);
+                }
+            }
+            else
+            {
+                maxVisualizationValue = maxUserVisualizationValue;
+                minVisualizationValue = minUserVisualizationValue;
+            }
+		}
+
+        public override void VisualizationOptions()
+        {
+            EditorGUI.BeginChangeCheck();
+            autoRange = EditorGUILayout.Toggle("Automatic property range", autoRange);
+            GUI.enabled = !autoRange;
+            EditorGUI.indentLevel++;
+            minUserVisualizationValue = EditorGUILayout.FloatField("Min", minUserVisualizationValue);
+            maxUserVisualizationValue = EditorGUILayout.FloatField("Max", maxUserVisualizationValue);
+            EditorGUI.indentLevel--;
+            GUI.enabled = true;
+
+            if (EditorGUI.EndChangeCheck())
+            {
+                RecalculateMinMax();
+                editor.Refresh();
+            }
+        }
+
+		public override Color ToColor(int index)
+        {
+            Gradient gradient = ObiEditorSettings.GetOrCreateSettings().propertyGradient;
+            if (!Mathf.Approximately(minVisualizationValue, maxVisualizationValue))
+                return gradient.Evaluate(Mathf.InverseLerp(minVisualizationValue, maxVisualizationValue, Get(index)));
+            else return gradient.Evaluate(0);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta
new file mode 100644
index 00000000..a8a2539d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be67f2576200242f080bbcc074dc598a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs
new file mode 100644
index 00000000..4cbc05b8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs
@@ -0,0 +1,41 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintIntProperty : ObiBlueprintProperty<int>
+    {
+        protected int? minValue = null;
+        protected int? maxValue = null;
+
+        public ObiBlueprintIntProperty(int? minValue = null, int? maxValue = null)
+        {
+            this.minValue = minValue;
+            this.maxValue = maxValue;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            EditorGUI.BeginChangeCheck();
+            value = EditorGUILayout.IntField(name, value);
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (minValue.HasValue)
+                    value = Mathf.Max(minValue.Value, value);
+                if (maxValue.HasValue)
+                    value = Mathf.Min(maxValue.Value, value);
+            }
+        }
+
+        public override Color ToColor(int index)
+        {
+            int colorIndex = Get(index) % ObiUtils.colorAlphabet.Length;
+            return ObiUtils.colorAlphabet[colorIndex];
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta
new file mode 100644
index 00000000..069bfc02
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d8661f9e9cfd044c7bb759145c2a8d73
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs
new file mode 100644
index 00000000..e4b0713e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintMaskProperty : ObiBlueprintIntProperty
+    {
+        public ObiBlueprintMaskProperty() : base(null,null)
+        {
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.MaskField(name, value, ObiUtils.categoryNames);
+        }
+
+        private int MathMod(int a, int b)
+        {
+            return (Mathf.Abs(a * b) + a) % b;
+        }
+
+        public override Color ToColor(int index)
+        {
+            int colorIndex = MathMod(Get(index),ObiUtils.colorAlphabet.Length);
+            return ObiUtils.colorAlphabet[colorIndex];
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta
new file mode 100644
index 00000000..60f3c178
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 165ad17d69adf415ea7609a9373de001
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs
new file mode 100644
index 00000000..fb768124
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs
@@ -0,0 +1,79 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintPropertyBase
+    {
+        protected List<IObiBrushMode> brushModes = new List<IObiBrushMode>();
+        private int selectedBrushMode;
+
+        public abstract string name
+        {
+            get;
+        }
+
+        public abstract void PropertyField();
+        public virtual void VisualizationOptions(){}
+        public virtual void OnSceneRepaint(){}
+
+        public abstract bool Equals(int firstIndex, int secondIndex);
+
+        public abstract void GetDefaultFromIndex(int index);
+        public abstract void SetDefaultToIndex(int index);
+        public virtual bool Masked(int index)
+        {
+            return false;
+        }
+
+        public virtual void RecalculateMinMax() { }
+        public virtual Color ToColor(int index) { return Color.white; }
+
+        protected void Initialize(ObiBrushBase paintBrush)
+        {
+            // Initialize the brush if there's no brush mode set:
+            if (paintBrush.brushMode == null && brushModes.Count > 0)
+            {
+                selectedBrushMode = 0;
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+            }
+        }
+
+        public void OnSelect(ObiBrushBase paintBrush)
+        {
+            // Upon selecting the property, change to the last selected brush mode:
+            if (brushModes.Count > selectedBrushMode)
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+
+        }
+
+        public void BrushModes(ObiBrushBase paintBrush)
+        {
+            Initialize(paintBrush);
+
+            GUIContent[] contents = new GUIContent[brushModes.Count];
+            for (int i = 0; i < brushModes.Count; ++i)
+                contents[i] = new GUIContent(brushModes[i].name);
+
+            EditorGUI.BeginChangeCheck();
+            selectedBrushMode = ObiEditorUtils.DoToolBar(selectedBrushMode, contents);
+            if (EditorGUI.EndChangeCheck())
+            {
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+            }
+        }
+    }
+
+    public abstract class ObiBlueprintProperty<T> : ObiBlueprintPropertyBase
+    {
+        protected T value;
+
+        public T GetDefault() { return value; }
+        public override void GetDefaultFromIndex(int index) { value = Get(index); }
+        public override void SetDefaultToIndex(int index) { Set(index, value); }
+
+        public abstract T Get(int index);
+        public abstract void Set(int index, T value);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta
new file mode 100644
index 00000000..ba7b85be
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 60a83ba184caf4a1aba4da6754776a1d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs
new file mode 100644
index 00000000..f5345891
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IObiSelectableParticleProvider
+    {
+        void SetSelected(int particleIndex, bool selected);
+        bool IsSelected(int particleIndex);
+        bool Editable(int particleIndex);
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta
new file mode 100644
index 00000000..3bf0408f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0c3a2643915854763af75d63fa1ec0c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  icon: {instanceID: 0}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
new file mode 100644
index 00000000..83d73b9f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
@@ -0,0 +1,33 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiBlueprintColor : ObiBlueprintColorProperty
+    {
+        public ObiBlueprintColor(ObiActorBlueprintEditor editor) : base(editor)
+        {
+            brushModes.Add(new ObiColorPaintBrushMode(this)); 
+            brushModes.Add(new ObiColorSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Color"; }
+        }
+
+        public override Color Get(int index)
+        {
+            return editor.blueprint.colors[index];
+        }
+        public override void Set(int index, Color value)
+        {
+            editor.blueprint.colors[index] = value;
+            editor.blueprint.edited = true;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta
new file mode 100644
index 00000000..a371aaca
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta
@@ -0,0 +1,11 @@
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+guid: 810c95482e60a44209c5ece07e287153
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
new file mode 100644
index 00000000..acd53eef
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
@@ -0,0 +1,32 @@
+namespace Obi
+{
+    public class ObiBlueprintFilterCategory : ObiBlueprintIntProperty
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFilterCategory(ObiActorBlueprintEditor editor) : base(ObiUtils.MinCategory, ObiUtils.MaxCategory) 
+        {
+            this.editor = editor;
+            brushModes.Add(new ObiIntPaintBrushMode(this));
+        }
+
+        public override string name
+        {
+            get { return "Category"; }
+        }
+
+        public override int Get(int index)
+        {
+            return ObiUtils.GetCategoryFromFilter(editor.blueprint.filters[index]);
+        }
+        public override void Set(int index, int value)
+        {
+            editor.blueprint.filters[index] = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(editor.blueprint.filters[index]), value);
+            editor.blueprint.edited = true;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta
new file mode 100644
index 00000000..50307493
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta
@@ -0,0 +1,11 @@
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+guid: 08502999496e54f49bb9dee0e0855794
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
new file mode 100644
index 00000000..6c2d57b5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
@@ -0,0 +1,32 @@
+namespace Obi
+{
+    public class ObiBlueprintFilterMask : ObiBlueprintMaskProperty
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFilterMask(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+            brushModes.Add(new ObiIntPaintBrushMode(this));
+        }
+
+        public override string name
+        {
+            get { return "Collides with"; }
+        }
+
+        public override int Get(int index)
+        {
+            return ObiUtils.GetMaskFromFilter(editor.blueprint.filters[index]);
+        }
+        public override void Set(int index, int value)
+        {
+            editor.blueprint.filters[index] = ObiUtils.MakeFilter(value,ObiUtils.GetCategoryFromFilter(editor.blueprint.filters[index]));
+            editor.blueprint.edited = true;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta
new file mode 100644
index 00000000..2bdf6b4a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta
@@ -0,0 +1,11 @@
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+guid: ead8a00c964834718a2411be5d7361f3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
new file mode 100644
index 00000000..32b0e3dd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
@@ -0,0 +1,33 @@
+namespace Obi
+{
+    public class ObiBlueprintMass : ObiBlueprintFloatProperty
+    {
+
+        public ObiBlueprintMass(ObiActorBlueprintEditor editor) : base(editor,0)
+        {
+            brushModes.Add(new ObiFloatPaintBrushMode(this)); 
+            brushModes.Add(new ObiFloatAddBrushMode(this));
+            brushModes.Add(new ObiFloatCopyBrushMode(this, this));
+            brushModes.Add(new ObiFloatSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Mass"; }
+        }
+
+        public override float Get(int index)
+        {
+            return ObiUtils.InvMassToMass(editor.blueprint.invMasses[index]);
+        }
+        public override void Set(int index, float value)
+        {
+            editor.blueprint.invMasses[index] = ObiUtils.MassToInvMass(value);
+            editor.blueprint.edited = true;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta
new file mode 100644
index 00000000..7dcb1686
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bd39fbd4c226542e58dc8ecceb5f8f14
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
new file mode 100644
index 00000000..21f8d384
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiBlueprintRadius : ObiBlueprintFloatProperty
+    {
+
+        public ObiBlueprintRadius(ObiActorBlueprintEditor editor) : base(editor,0.0000001f) 
+        { 
+            brushModes.Add(new ObiFloatPaintBrushMode(this)); 
+            brushModes.Add(new ObiFloatAddBrushMode(this));
+            brushModes.Add(new ObiFloatCopyBrushMode(this, this));
+            brushModes.Add(new ObiFloatSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Radius"; }
+        }
+
+        public override float Get(int index)
+        {
+            return editor.blueprint.principalRadii[index][0];
+        }
+        public override void Set(int index, float value)
+        {
+            value = Mathf.Max(0.0000001f, value);
+            float ratio = value / Get(index);
+            editor.blueprint.principalRadii[index] = editor.blueprint.principalRadii[index] * ratio;
+            editor.blueprint.edited = true;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta
new file mode 100644
index 00000000..17400981
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5c61b50f6f4a468aa246f01e5268831
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs
new file mode 100644
index 00000000..920a5020
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs
@@ -0,0 +1,29 @@
+namespace Obi
+{
+    public class ObiBlueprintSelected : ObiBlueprintBoolProperty
+    {
+        public IObiSelectableParticleProvider provider;
+        public ObiBlueprintSelected(IObiSelectableParticleProvider provider)
+        {
+            this.provider = provider;
+        }
+
+        public override string name
+        {
+            get { return "Selected"; }
+        }
+
+        public override bool Get(int index)
+        {
+            return provider.IsSelected(index);
+        }
+        public override void Set(int index, bool value)
+        {
+            provider.SetSelected(index,value);
+        }
+        public override bool Masked(int index)
+        {
+            return !provider.Editable(index);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta
new file mode 100644
index 00000000..d46419e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta
@@ -0,0 +1,11 @@
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+guid: 270971958421b4fec9e5a5ba95699518
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta
new file mode 100644
index 00000000..d44e8e2f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: be5de82c95ded480d881176f73fc19b7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs
new file mode 100644
index 00000000..0b780b88
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintRenderMode
+    {
+        protected ObiActorBlueprintEditor editor;
+        public abstract string name
+        {
+            get;
+        }
+        public ObiBlueprintRenderMode(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public virtual void DrawWithCamera(Camera camera) {}
+        public virtual void OnSceneRepaint(SceneView sceneView) {}
+        public virtual void Refresh(){}
+
+        public virtual void OnDestroy() { }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta
new file mode 100644
index 00000000..585711f9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta
@@ -0,0 +1,11 @@
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+guid: d60f616a126974e6d8be81fbbe459bac
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs
new file mode 100644
index 00000000..eeb6854b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeAerodynamicConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Aerodynamic constraints"; }
+        }
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiBlueprintRenderModeAerodynamicConstraints(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            var meshEditor = editor as ObiMeshBasedActorBlueprintEditor;
+            if (meshEditor != null)
+            {
+                // Get per-particle normals:
+                Vector3[] normals = meshEditor.sourceMesh.normals;
+                Vector3[] particleNormals = new Vector3[meshEditor.blueprint.particleCount];
+                for (int i = 0; i < normals.Length; ++i)
+                {
+                    int welded = meshEditor.VertexToParticle(i);
+                    particleNormals[welded] = normals[i];
+                }
+
+                using (new Handles.DrawingScope(Color.blue, Matrix4x4.identity))
+                {
+                    var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Aerodynamics) as ObiConstraints<ObiAerodynamicConstraintsBatch>;
+                    if (constraints != null)
+                    {
+                        Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                        int lineIndex = 0;
+
+                        foreach (var batch in constraints.batches)
+                        {
+                            for (int i = 0; i < batch.activeConstraintCount; ++i)
+                            {
+                                int particleIndex = batch.particleIndices[i];
+                                Vector3 position = editor.blueprint.GetParticlePosition(particleIndex);
+                                lines[lineIndex++] = position;
+                                lines[lineIndex++] = position + particleNormals[particleIndex] * 0.025f;
+                            }
+                        }
+
+                        Handles.DrawLines(lines);
+                    }
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta
new file mode 100644
index 00000000..c6efaed7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 18881e26e784d47aaa8aa27c93fe0b49
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs
new file mode 100644
index 00000000..a5f68cb9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs
@@ -0,0 +1,44 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeBendConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Bend constraints"; }
+        }
+
+        public ObiBlueprintRenderModeBendConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            using (new Handles.DrawingScope(Color.magenta, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 3]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 3 + 1]); 
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            } 
+             
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta
new file mode 100644
index 00000000..ec81849a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 15e21bc6bea1c4320948413c8d7334bd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs
new file mode 100644
index 00000000..b4fb4f07
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs
@@ -0,0 +1,44 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeDistanceConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Distance constraints"; }
+        }
+
+        public ObiBlueprintRenderModeDistanceConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+
+            using (new Handles.DrawingScope(Color.green, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2 + 1]); 
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            } 
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta
new file mode 100644
index 00000000..c6b32ad1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ac734c05a2b994f148fd43cd5829b1be
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
new file mode 100644
index 00000000..2f3473b9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
@@ -0,0 +1,46 @@
+using UnityEditor;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeMesh : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Mesh"; }
+        }
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiBlueprintRenderModeMesh(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView) 
+        {
+            if (meshBasedEditor.currentTool is ObiPaintBrushEditorTool)
+            {
+                ObiPaintBrushEditorTool paintTool = (ObiPaintBrushEditorTool)meshBasedEditor.currentTool;
+
+                float[] weights = new float[ObiActorBlueprintEditor.selectionStatus.Length];
+                for (int i = 0; i < weights.Length; i++)
+                {
+                    if (paintTool.selectionMask && !ObiActorBlueprintEditor.selectionStatus[i])
+                        weights[i] = 0;
+                    else
+                        weights[i] = 1;
+                }
+
+                float[] wireframeWeights = new float[paintTool.paintBrush.weights.Length];
+                for (int i = 0; i < wireframeWeights.Length; i++)
+                    wireframeWeights[i] = paintTool.paintBrush.weights[i];
+
+                meshBasedEditor.DrawGradientMesh(weights, wireframeWeights);
+            }
+            else
+                meshBasedEditor.DrawGradientMesh();
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta
new file mode 100644
index 00000000..19cb4d49
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dbcd302f71d6446cd976f736b365c7ba
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
new file mode 100644
index 00000000..47135af0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
@@ -0,0 +1,65 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeParticles : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Particles"; }
+        }
+
+        private Shader shader;
+        private Material material;
+        private ParticleImpostorRendering impostorDrawer;
+        private MaterialPropertyBlock mpb;
+
+        public ObiBlueprintRenderModeParticles(ObiActorBlueprintEditor editor) :base(editor)
+        {
+            impostorDrawer = new ParticleImpostorRendering();
+            impostorDrawer.UpdateMeshes(editor.blueprint);
+            mpb = new MaterialPropertyBlock();
+        }
+
+        void CreateMaterialIfNeeded()
+        {
+            if (shader == null)
+            {
+                shader = Shader.Find("Obi/EditorParticles");
+                if (shader != null)
+                {
+                    if (!shader.isSupported)
+                        Debug.LogWarning("Particle rendering shader not suported.");
+
+                    if (material == null || material.shader != shader)
+                    {
+                        GameObject.DestroyImmediate(material);
+                        material = new Material(shader);
+                        material.hideFlags = HideFlags.HideAndDontSave;
+                    }
+                }
+            }
+        }
+
+        public override void DrawWithCamera(Camera camera) 
+        {
+            CreateMaterialIfNeeded();
+            mpb.SetFloat("_RadiusScale", 1);
+            mpb.SetColor("_ParticleColor", Color.white);
+            foreach (Mesh mesh in impostorDrawer.Meshes)
+                Graphics.DrawMesh(mesh, Matrix4x4.identity, material, 0, camera, 0, mpb);
+        }
+
+        public override void Refresh()
+        {
+            impostorDrawer.UpdateMeshes(editor.blueprint, editor.visible, editor.tint);
+        }
+
+        public override void OnDestroy()
+        {
+            GameObject.DestroyImmediate(material);
+            impostorDrawer.ClearMeshes();
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta
new file mode 100644
index 00000000..7e91ad77
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b51ea2becbebe48ba9d77e9d28403f51
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs
new file mode 100644
index 00000000..58224382
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs
@@ -0,0 +1,54 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeShapeMatchingConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Shape matching clusters"; }
+        }
+
+        public ObiBlueprintRenderModeShapeMatchingConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+
+            using (new Handles.DrawingScope(Color.cyan, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.ShapeMatching) as ObiConstraints<ObiShapeMatchingConstraintsBatch>;
+                if (constraints != null)
+                {
+                    List<Vector3> lines = new List<Vector3>();
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            int first = batch.firstIndex[i];
+                            Vector3 p1 = editor.blueprint.GetParticlePosition(batch.particleIndices[first]);
+
+                            for (int j = 1; j < batch.numIndices[i]; ++j)
+                            {
+
+                                int index = first + j;
+                                Vector3 p2 = editor.blueprint.GetParticlePosition(batch.particleIndices[index]);
+
+                                lines.Add(p1);
+                                lines.Add(p2);
+                            }
+
+                        }
+                    }
+
+                    Handles.DrawLines(lines.ToArray());
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta
new file mode 100644
index 00000000..201059f1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: e5ff128cfebee45ffb8266eb3e75522e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs
new file mode 100644
index 00000000..bd33fafd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeTetherConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Tether constraints"; }
+        }
+
+        public ObiBlueprintRenderModeTetherConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            using (new Handles.DrawingScope(Color.yellow, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Tether) as ObiConstraints<ObiTetherConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2 + 1]);
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta
new file mode 100644
index 00000000..94886036
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions.meta b/xiaofang/Assets/Obi/Editor/Common/Collisions.meta
new file mode 100644
index 00000000..e3f2bc76
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5759f1c7beafc485489fb47abffaa269
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
new file mode 100644
index 00000000..a12dae90
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
@@ -0,0 +1,104 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiColliderBase), true), CanEditMultipleObjects] 
+	public class ObiColliderEditor : Editor
+	{
+
+        ObiColliderBase collider;
+        SerializedProperty collisionFilter;
+
+        public void OnEnable()
+        {
+            collider = (ObiColliderBase)target;
+            collisionFilter = serializedObject.FindProperty("filter");
+        }
+
+        protected void NonReadableMeshWarning(Mesh mesh)
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.helpBox);
+            Texture2D icon = EditorGUIUtility.Load("icons/console.erroricon.png") as Texture2D;
+            EditorGUILayout.LabelField(new GUIContent("The input mesh is not readable. Read/Write must be enabled in the mesh import settings.", icon), EditorStyles.wordWrappedMiniLabel);
+
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            if (GUILayout.Button("Fix now", GUILayout.MaxWidth(100), GUILayout.MinHeight(32)))
+            {
+                string assetPath = AssetDatabase.GetAssetPath(mesh);
+                ModelImporter modelImporter = AssetImporter.GetAtPath(assetPath) as ModelImporter;
+                if (modelImporter != null)
+                {
+                    modelImporter.isReadable = true;
+                }
+                modelImporter.SaveAndReimport();
+            }
+            EditorGUILayout.EndHorizontal();
+            EditorGUILayout.EndVertical();
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            foreach (ObiColliderBase t in targets)
+            {
+                ObiMeshShapeTracker meshTracker = t.Tracker as ObiMeshShapeTracker;
+                if (meshTracker != null)
+                {
+                    if (meshTracker.targetMesh != null && !meshTracker.targetMesh.isReadable)
+                        NonReadableMeshWarning(meshTracker.targetMesh);
+                }
+            }
+
+            var rect = EditorGUILayout.GetControlRect();
+            var label = EditorGUI.BeginProperty(rect, new GUIContent("Collision category"), collisionFilter);
+            rect = EditorGUI.PrefixLabel(rect, label);
+
+            EditorGUI.BeginChangeCheck();
+            var newCategory = EditorGUI.Popup(rect, ObiUtils.GetCategoryFromFilter(collider.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiColliderBase t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision category");
+                    t.Filter = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(t.Filter), newCategory);
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUI.EndProperty();
+
+            rect = EditorGUILayout.GetControlRect();
+            label = EditorGUI.BeginProperty(rect, new GUIContent("Collides with"), collisionFilter);
+            rect = EditorGUI.PrefixLabel(rect, label);
+
+            EditorGUI.BeginChangeCheck();
+            var newMask = EditorGUI.MaskField(rect, ObiUtils.GetMaskFromFilter(collider.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiColliderBase t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision mask");
+                    t.Filter = ObiUtils.MakeFilter(newMask, ObiUtils.GetCategoryFromFilter(t.Filter));
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUI.EndProperty();
+
+            DrawPropertiesExcluding(serializedObject, "m_Script", "CollisionMaterial", "filter", "Thickness", "Inverted");
+
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+            }
+
+        }
+
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta
new file mode 100644
index 00000000..0373df8a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 7c99a0a8358754501b3c8089185b0e6f
+timeCreated: 1502034385
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
new file mode 100644
index 00000000..1ca4989c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
@@ -0,0 +1,178 @@
+using UnityEngine;
+using UnityEditor;
+using System.IO;
+using System.Collections;
+
+namespace Obi{
+	[CustomEditor(typeof(ObiDistanceField))]
+	public class ObiDistanceFieldEditor : Editor
+	{
+
+		ObiDistanceField distanceField;
+
+		PreviewHelpers previewHelper;
+		Vector2 previewDir;
+		Material previewMaterial;
+
+		Mesh previewMesh;
+		Texture3D volumeTexture;
+
+		protected IEnumerator routine;
+
+		private void UpdatePreview(){
+
+			CleanupPreview();
+
+			if (distanceField.InputMesh != null){
+
+				previewMesh = CreateMeshForBounds(distanceField.FieldBounds);
+				previewMesh.hideFlags = HideFlags.HideAndDontSave;
+
+				volumeTexture = distanceField.GetVolumeTexture(64);
+				volumeTexture.hideFlags = HideFlags.HideAndDontSave;
+
+				previewMaterial = Resources.Load<Material>("DistanceFieldPreview");
+				previewMaterial.SetTexture("_Volume",volumeTexture);
+				previewMaterial.SetVector("_AABBMin",-distanceField.FieldBounds.extents);
+                previewMaterial.SetVector("_AABBMax",distanceField.FieldBounds.extents);
+			}
+
+		}
+
+		private void CleanupPreview(){
+			GameObject.DestroyImmediate(previewMesh);
+			GameObject.DestroyImmediate(volumeTexture);
+		}
+
+		public void OnEnable(){
+			distanceField = (ObiDistanceField) target;
+			previewHelper = new PreviewHelpers();
+			UpdatePreview();
+		}
+
+		public void OnDisable(){
+			EditorUtility.ClearProgressBar();
+			previewHelper.Cleanup();
+			CleanupPreview();
+		}
+
+		public override void OnInspectorGUI() {
+
+			serializedObject.UpdateIfRequiredOrScript();	
+
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+
+			GUI.enabled = (distanceField.InputMesh != null);
+			if (GUILayout.Button("Generate")){
+				// Start a coroutine job in the editor.
+				EditorUtility.SetDirty(target);
+				CoroutineJob job = new CoroutineJob();
+				routine = job.Start( distanceField.Generate());
+				EditorCoroutine.ShowCoroutineProgressBar("Generating distance field", routine);
+				UpdatePreview();
+				EditorGUIUtility.ExitGUI();
+			}
+			GUI.enabled = true;		
+
+			int nodeCount = (distanceField.nodes != null ? distanceField.nodes.Count : 0);
+			float resolution = distanceField.FieldBounds.size.x / distanceField.EffectiveSampleSize;
+			EditorGUILayout.HelpBox("Nodes: "+ nodeCount+"\n"+
+									"Size in memory: "+ (nodeCount * 0.062f).ToString("0.#") +" kB\n"+
+									"Compressed to: " + (nodeCount / Mathf.Pow(resolution,3) * 100).ToString("0.##") + "%",MessageType.Info);
+
+			if (GUI.changed)
+				serializedObject.ApplyModifiedProperties();
+
+		}
+
+		public override bool HasPreviewGUI(){
+			return true;
+		}
+
+		public override void OnInteractivePreviewGUI(Rect region, GUIStyle background)
+		{
+			previewDir = PreviewHelpers.Drag2D(previewDir, region);
+
+			if (Event.current.type != EventType.Repaint || previewMesh == null)
+			{
+                return;
+            }
+
+			Quaternion quaternion = Quaternion.Euler(this.previewDir.y, 0f, 0f) * Quaternion.Euler(0f, this.previewDir.x, 0f) * Quaternion.Euler(0, 120, -20f);
+
+			previewHelper.BeginPreview(region, background);
+
+			Bounds bounds = previewMesh.bounds;
+			float magnitude = Mathf.Sqrt(bounds.extents.sqrMagnitude);
+			float num = 4f * magnitude;
+			previewHelper.m_Camera.transform.position = -Vector3.forward * num;
+			previewHelper.m_Camera.transform.rotation = Quaternion.identity;
+			previewHelper.m_Camera.nearClipPlane = num - magnitude * 1.1f;
+			previewHelper.m_Camera.farClipPlane = num + magnitude * 1.1f;
+
+			// Compute matrix to rotate the mesh around the center of its bounds:
+			Matrix4x4 matrix = Matrix4x4.TRS(Vector3.zero,quaternion,Vector3.one) * Matrix4x4.TRS(-bounds.center,Quaternion.identity,Vector3.one);
+
+			Graphics.DrawMesh(previewMesh, matrix, previewMaterial,1, previewHelper.m_Camera, 0);
+
+			Texture texture = previewHelper.EndPreview();
+			GUI.DrawTexture(region, texture, ScaleMode.StretchToFill, true);
+
+        }
+
+		/**
+		 * Creates a solid mesh from some Bounds. This is used to display the distance field volumetric preview.
+		 */
+		private Mesh CreateMeshForBounds(Bounds b){
+			Mesh m = new Mesh();
+
+			/** Indices of bounds corners:
+
+			  		   Y
+			  		   2	   6
+			    	   +------+
+			 	  3  .'|  7 .'|
+				   +---+--+'  |
+				   |   |  |   |
+				   |   +--+---+   X
+				   | .' 0 | .' 4
+				   +------+'
+				Z 1        5
+
+			*/
+			Vector3[] vertices = new Vector3[8]{
+				b.center + new Vector3(-b.extents.x,-b.extents.y,-b.extents.z), //0
+				b.center + new Vector3(-b.extents.x,-b.extents.y,b.extents.z),  //1
+				b.center + new Vector3(-b.extents.x,b.extents.y,-b.extents.z),  //2
+				b.center + new Vector3(-b.extents.x,b.extents.y,b.extents.z),   //3
+				b.center + new Vector3(b.extents.x,-b.extents.y,-b.extents.z),  //4
+				b.center + new Vector3(b.extents.x,-b.extents.y,b.extents.z),   //5
+				b.center + new Vector3(b.extents.x,b.extents.y,-b.extents.z),   //6
+				b.center + new Vector3(b.extents.x,b.extents.y,b.extents.z)     //7
+			};
+			int[] triangles = new int[36]{
+				2,3,7,
+				6,2,7,
+
+				7,5,4,
+				6,7,4,
+
+				3,1,5,
+				7,3,5,
+
+				2,0,3,
+				3,0,1,
+
+				6,4,2,
+				2,4,0,
+
+				4,5,0,
+				5,1,0
+			};
+
+			m.vertices = vertices;
+			m.triangles = triangles;
+			return m;
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta
new file mode 100644
index 00000000..60e8555c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5d47dd3a8215841aca1fe5b272cb24f2
+timeCreated: 1507046737
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs
new file mode 100644
index 00000000..884ac4c0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs
@@ -0,0 +1,30 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+	 * Custom inspector for ObiForceZone component. 
+	 */
+
+    [CustomEditor(typeof(ObiForceZone)), CanEditMultipleObjects]
+    public class ObiForceZoneEditor : Editor
+    {
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+        }
+
+    }
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta
new file mode 100644
index 00000000..99479b1e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 724435a7a84154b27bb0c8ea49b611df
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Constraints.meta b/xiaofang/Assets/Obi/Editor/Common/Constraints.meta
new file mode 100644
index 00000000..8cfd63c9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Constraints.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: cf28ba8ff6a7140e6a7e50a5030ff3e7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs b/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
new file mode 100644
index 00000000..579843b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
@@ -0,0 +1,73 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+
+	[CustomPropertyDrawer(typeof(Oni.ConstraintParameters))]
+	public class ObiConstraintParametersDrawer : PropertyDrawer
+	{		
+		public static float padding = 4;
+
+		public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+		{
+			float propHeight = EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing;
+
+			EditorGUI.BeginProperty(position, label, property);
+
+			SerializedProperty enabled = property.FindPropertyRelative("enabled");
+			Rect contRect = new Rect(position.x+padding, position.y+padding, position.width-padding*2, propHeight);
+	
+			// Draw a box around the parameters:
+			GUI.enabled = enabled.boolValue;
+            GUI.Box(position,"",ObiEditorUtils.GetToggleablePropertyGroupStyle());
+			GUI.enabled = true;
+
+            // Draw main constraint toggle:
+            EditorGUI.BeginProperty(position, label, enabled);
+            EditorGUI.BeginChangeCheck();
+            var newEnabled = EditorGUI.ToggleLeft(contRect, label.text, enabled.boolValue, EditorStyles.boldLabel);
+            // Only assign the value back if it was actually changed by the user.
+            // Otherwise a single value will be assigned to all objects when multi-object editing,
+            // even when the user didn't touch the control.
+            if (EditorGUI.EndChangeCheck())
+            {
+                enabled.boolValue = newEnabled;
+            }
+            EditorGUI.EndProperty();
+
+            if (enabled.boolValue){
+	
+				Rect evalRect = new Rect(position.x+padding, position.y+propHeight+padding, position.width-padding*2, propHeight);
+	       		Rect iterRect = new Rect(position.x+padding, position.y+propHeight*2+padding, position.width-padding*2, propHeight);
+	        	Rect sorRect =  new Rect(position.x+padding, position.y+propHeight*3+padding, position.width-padding*2, EditorGUIUtility.singleLineHeight);
+	
+				EditorGUI.indentLevel++;
+					Rect evalCtrl = EditorGUI.PrefixLabel(evalRect,new GUIContent("Evaluation"));
+					EditorGUI.PropertyField(evalCtrl, property.FindPropertyRelative("evaluationOrder"),GUIContent.none);
+	
+					Rect iterCtrl = EditorGUI.PrefixLabel(iterRect,new GUIContent("Iterations"));
+					EditorGUI.PropertyField(iterCtrl, property.FindPropertyRelative("iterations"),GUIContent.none);
+
+					Rect sorCtrl = EditorGUI.PrefixLabel(sorRect,new GUIContent("Relaxation"));
+					EditorGUI.PropertyField(sorCtrl, property.FindPropertyRelative("SORFactor"),GUIContent.none);
+				EditorGUI.indentLevel--;
+			
+			}
+
+			EditorGUI.EndProperty();
+		}
+
+ 		public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+		{
+			SerializedProperty enabled = property.FindPropertyRelative("enabled");
+			if (enabled.boolValue)
+				return EditorGUIUtility.singleLineHeight*4 + EditorGUIUtility.standardVerticalSpacing*3 + padding*2;
+			else
+				return EditorGUIUtility.singleLineHeight + padding*2;
+		}
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta
new file mode 100644
index 00000000..ec24a969
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: bc70cbc4838a4467687180e4d555b069
+timeCreated: 1515057027
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs b/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs
new file mode 100644
index 00000000..e7b22a08
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs
@@ -0,0 +1,73 @@
+
+using System;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiAboutWindow : EditorWindow
+    {
+
+        [MenuItem ("Window/Obi/About")]
+        public static void Init()
+        {
+            ObiAboutWindow window = (ObiAboutWindow)EditorWindow.GetWindow(typeof(ObiAboutWindow),true,"Welcome to Obi!");
+            window.position = new Rect(Screen.width / 2, Screen.height / 2, 380, 300);
+            window.maxSize = window.minSize = new Vector2(380,300);
+            window.ShowPopup();
+        }
+    
+        void OnGUI()
+        {
+            // Draw logo and copyright notice:
+            EditorGUILayout.BeginHorizontal();
+
+				GUILayout.Label(Resources.Load<Texture2D>("obi_editor_logo"));
+
+                EditorGUILayout.BeginVertical(GUILayout.MaxHeight(119.0f/EditorGUIUtility.pixelsPerPoint));  
+   
+                    GUILayout.FlexibleSpace();
+    
+                    Color oldColor = GUI.contentColor;
+                    GUI.contentColor = Color.black;
+                    GUILayout.Label("Obi - Unified particle physics",EditorStyles.centeredGreyMiniLabel);
+                    GUI.contentColor = oldColor;
+    
+                    GUILayout.Label("© Copyright Virtual Method, 2015-2016.\nAll rights reserved.",EditorStyles.centeredGreyMiniLabel);
+
+                    GUILayout.FlexibleSpace();
+
+                EditorGUILayout.EndVertical();
+
+            EditorGUILayout.EndHorizontal();
+
+            DrawAboutGUI();
+            
+        }
+
+        void DrawAboutGUI(){
+            
+            GUILayout.FlexibleSpace();
+
+            EditorGUILayout.LabelField("Programming:",EditorStyles.centeredGreyMiniLabel);
+            EditorGUILayout.LabelField("José María Méndez González",EditorStyles.centeredGreyMiniLabel);
+
+            EditorGUILayout.LabelField("Additional resources:",EditorStyles.centeredGreyMiniLabel);
+            EditorGUILayout.LabelField("Lidia Martínez Prado",EditorStyles.centeredGreyMiniLabel);
+
+            GUILayout.FlexibleSpace();
+        
+            if (GUILayout.Button("Manual",EditorStyles.toolbarButton))
+                Application.OpenURL("http://obi.virtualmethodstudio.com/tutorials/");
+            if (GUILayout.Button("API docs",EditorStyles.toolbarButton))
+                Application.OpenURL("http://obi.virtualmethodstudio.com/docs/");
+            if (GUILayout.Button("visit www.virtualmethodstudio.com",EditorStyles.toolbarButton))
+                Application.OpenURL("http://www.virtualmethodstudio.com");
+            if (GUILayout.Button("Create preferences file", EditorStyles.toolbarButton))
+                ObiEditorSettings.GetOrCreateSettings();
+
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta b/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta
new file mode 100644
index 00000000..6166f573
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: c6764c51caa004a25ab49afc9865d2b3
+timeCreated: 1498062614
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs b/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
new file mode 100644
index 00000000..a03cb52b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
@@ -0,0 +1,81 @@
+using System.Collections.Generic;
+using System.IO;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+    class ObiSettingsProvider : SettingsProvider
+    {
+        private SerializedObject m_ObiSettings;
+
+        class Styles
+        {
+            public static GUIContent particleBrush = new GUIContent("Brush");
+            public static GUIContent brushWireframe = new GUIContent("Brush wireframe");
+            public static GUIContent particle = new GUIContent("Particle");
+            public static GUIContent selectedParticle = new GUIContent("Selected particle");
+            public static GUIContent activeParticle = new GUIContent("Active particle");
+            public static GUIContent propertyGradient = new GUIContent("Property gradient");
+            public static GUIContent particlePicking = new GUIContent("Particle GO picking");
+        }
+
+        const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
+        public ObiSettingsProvider(string path, SettingsScope scope = SettingsScope.User)
+            : base(path, scope) { }
+
+        public static bool IsSettingsAvailable()
+        {
+            return File.Exists(m_ObiEditorSettingsPath);
+        }
+
+#if UNITY_2019_1_OR_NEWER
+        public override void OnActivate(string searchContext, UnityEngine.UIElements.VisualElement rootElement)
+#else
+        public override void OnActivate(string searchContext, UnityEngine.Experimental.UIElements.VisualElement rootElement)
+#endif
+        {
+            // This function is called when the user clicks on the MyCustom element in the Settings window.
+            m_ObiSettings = ObiEditorSettings.GetSerializedSettings();
+        }
+
+        public override void OnDeactivate()
+        {
+            base.OnDeactivate();
+
+            if (m_ObiSettings != null)
+                m_ObiSettings.ApplyModifiedProperties();
+        }
+
+        public override void OnGUI(string searchContext)
+        {
+            EditorGUILayout.LabelField("Colors", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ParticleBrush"), Styles.particleBrush);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_BrushWireframe"),Styles.brushWireframe);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_Particle"),Styles.particle);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_SelectedParticle"),Styles.selectedParticle);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ActiveParticle"), Styles.activeParticle);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_PropertyGradient"), Styles.propertyGradient);
+
+            EditorGUILayout.LabelField("Scene view", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ParticlePicking"), Styles.particlePicking);
+        }
+
+        // Register the SettingsProvider
+        [SettingsProvider]
+        public static SettingsProvider CreateMyCustomSettingsProvider()
+        {
+            if (IsSettingsAvailable())
+            {
+                var provider = new ObiSettingsProvider("Preferences/Obi", SettingsScope.User);
+
+                // Automatically extract all keywords from the Styles.
+                provider.keywords = GetSearchKeywordsFromGUIContentProperties<Styles>();
+                return provider;
+            }
+
+            // Settings Asset doesn't exist yet; no need to display anything in the Settings window.
+            return null;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta b/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta
new file mode 100644
index 00000000..7c37da33
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 19ac664f594284b3c92ddb354155d814
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Rendering.meta b/xiaofang/Assets/Obi/Editor/Common/Rendering.meta
new file mode 100644
index 00000000..07c70140
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 60a71308789c34bb8a53415b380a6706
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs
new file mode 100644
index 00000000..310ac05e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs
@@ -0,0 +1,32 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiParticleRenderer component. 
+	 */
+
+	[CustomEditor(typeof(ObiParticleRenderer)), CanEditMultipleObjects] 
+	public class ObiParticleHandleEditor : Editor
+	{
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+			}
+			
+		}
+		
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta
new file mode 100644
index 00000000..e249bdb5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 2a7e6fcc51ab349e687aa6ca5bdf6739
+timeCreated: 1463090765
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Solver.meta b/xiaofang/Assets/Obi/Editor/Common/Solver.meta
new file mode 100644
index 00000000..0d6cdda6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Solver.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d82f874c48e764fb8b49f1767f76a94a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
new file mode 100644
index 00000000..542a1dc5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
@@ -0,0 +1,344 @@
+using UnityEditor;
+using UnityEngine;
+using UnityEditorInternal;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+     * Custom inspector for ObiSolver components.
+     * Allows particle selection and constraint edition. 
+     * 
+     * Selection:
+     * 
+     * - To select a particle, left-click on it. 
+     * - You can select multiple particles by holding shift while clicking.
+     * - To deselect all particles, click anywhere on the object except a particle.
+     * 
+     * Constraints:
+     * 
+     * - To edit particle constraints, select the particles you wish to edit.
+     * - Constraints affecting any of the selected particles will appear in the inspector.
+     * - To add a new pin constraint to the selected particle(s), click on "Add Pin Constraint".
+     * 
+     */
+    [CustomEditor(typeof(ObiSolver)), CanEditMultipleObjects]
+    public class ObiSolverEditor : Editor
+    {
+
+        [MenuItem("GameObject/3D Object/Obi/Obi Solver", false, 100)]
+        static void CreateObiSolver(MenuCommand menuCommand)
+        {
+            GameObject go = ObiEditorUtils.CreateNewSolver();
+            GameObjectUtility.SetParentAndAlign(go, menuCommand.context as GameObject);
+            Selection.activeGameObject = go;
+        }
+
+        ObiSolver solver;
+
+        SerializedProperty backend;
+        SerializedProperty substeps;
+        SerializedProperty maxStepsPerFrame;
+        SerializedProperty synchronization;
+        SerializedProperty simulateWhenInvisible;
+        SerializedProperty parameters;
+        SerializedProperty gravity;
+        SerializedProperty gravitySpace;
+        SerializedProperty ambientWind;
+        SerializedProperty windSpace;
+        SerializedProperty worldLinearInertiaScale;
+        SerializedProperty worldAngularInertiaScale;
+
+        SerializedProperty foamSubsteps;
+        SerializedProperty maxFoamVelocityStretch;
+        SerializedProperty foamFade;
+        SerializedProperty foamAccelAgingRange;
+        SerializedProperty foamAccelAging;
+
+        SerializedProperty distanceConstraintParameters;
+        SerializedProperty bendingConstraintParameters;
+        SerializedProperty particleCollisionConstraintParameters;
+        SerializedProperty particleFrictionConstraintParameters;
+        SerializedProperty collisionConstraintParameters;
+        SerializedProperty frictionConstraintParameters;
+        SerializedProperty skinConstraintParameters;
+        SerializedProperty volumeConstraintParameters;
+        SerializedProperty shapeMatchingConstraintParameters;
+        SerializedProperty tetherConstraintParameters;
+        SerializedProperty pinConstraintParameters;
+        SerializedProperty stitchConstraintParameters;
+        SerializedProperty densityConstraintParameters;
+        SerializedProperty stretchShearConstraintParameters;
+        SerializedProperty bendTwistConstraintParameters;
+        SerializedProperty chainConstraintParameters;
+
+        SerializedProperty maxSurfaceChunks;
+        SerializedProperty maxQueryResults;
+        SerializedProperty maxFoamParticles;
+        SerializedProperty maxParticleNeighbors;
+        SerializedProperty maxParticleContacts;
+
+        BooleanPreference solverFoldout;
+        BooleanPreference simulationFoldout;
+        BooleanPreference advectionFoldout;
+        BooleanPreference collisionsFoldout;
+        BooleanPreference constraintsFoldout;
+        BooleanPreference memoryFoldout;
+
+        GUIContent constraintLabelContent;
+
+        public void OnEnable()
+        {
+            solver = (ObiSolver)target;
+            constraintLabelContent = new GUIContent();
+
+            solverFoldout = new BooleanPreference($"{target.GetType()}.solverFoldout", true);
+            simulationFoldout = new BooleanPreference($"{target.GetType()}.simulationFoldout", false);
+            advectionFoldout = new BooleanPreference($"{target.GetType()}.advectionFoldout", false);
+            collisionsFoldout = new BooleanPreference($"{target.GetType()}.collisionsFoldout", false);
+            constraintsFoldout = new BooleanPreference($"{target.GetType()}.constraintsFoldout", false);
+            memoryFoldout = new BooleanPreference($"{target.GetType()}.memoryFoldout", false);
+
+            backend = serializedObject.FindProperty("m_Backend");
+            substeps = serializedObject.FindProperty("substeps");
+            maxStepsPerFrame = serializedObject.FindProperty("maxStepsPerFrame");
+            synchronization = serializedObject.FindProperty("synchronization");
+            simulateWhenInvisible = serializedObject.FindProperty("simulateWhenInvisible");
+            parameters = serializedObject.FindProperty("parameters");
+            gravity = serializedObject.FindProperty("gravity");
+            gravitySpace = serializedObject.FindProperty("gravitySpace");
+            ambientWind = serializedObject.FindProperty("ambientWind");
+            windSpace = serializedObject.FindProperty("windSpace");
+            worldLinearInertiaScale = serializedObject.FindProperty("worldLinearInertiaScale");
+            worldAngularInertiaScale = serializedObject.FindProperty("worldAngularInertiaScale");
+
+            foamSubsteps = serializedObject.FindProperty("foamSubsteps");
+            maxFoamVelocityStretch = serializedObject.FindProperty("maxFoamVelocityStretch");
+            foamFade = serializedObject.FindProperty("foamFade");
+            foamAccelAgingRange = serializedObject.FindProperty("foamAccelAgingRange");
+            foamAccelAging = serializedObject.FindProperty("foamAccelAging");
+
+            distanceConstraintParameters = serializedObject.FindProperty("distanceConstraintParameters");
+            bendingConstraintParameters = serializedObject.FindProperty("bendingConstraintParameters");
+            particleCollisionConstraintParameters = serializedObject.FindProperty("particleCollisionConstraintParameters");
+            particleFrictionConstraintParameters = serializedObject.FindProperty("particleFrictionConstraintParameters");
+            collisionConstraintParameters = serializedObject.FindProperty("collisionConstraintParameters");
+            frictionConstraintParameters = serializedObject.FindProperty("frictionConstraintParameters");
+            skinConstraintParameters = serializedObject.FindProperty("skinConstraintParameters");
+            volumeConstraintParameters = serializedObject.FindProperty("volumeConstraintParameters");
+            shapeMatchingConstraintParameters = serializedObject.FindProperty("shapeMatchingConstraintParameters");
+            tetherConstraintParameters = serializedObject.FindProperty("tetherConstraintParameters");
+            pinConstraintParameters = serializedObject.FindProperty("pinConstraintParameters");
+            stitchConstraintParameters = serializedObject.FindProperty("stitchConstraintParameters");
+            densityConstraintParameters = serializedObject.FindProperty("densityConstraintParameters");
+            stretchShearConstraintParameters = serializedObject.FindProperty("stretchShearConstraintParameters");
+            bendTwistConstraintParameters = serializedObject.FindProperty("bendTwistConstraintParameters");
+            chainConstraintParameters = serializedObject.FindProperty("chainConstraintParameters");
+
+            maxSurfaceChunks = serializedObject.FindProperty("m_MaxSurfaceChunks");
+            maxQueryResults = serializedObject.FindProperty("maxQueryResults");
+            maxFoamParticles = serializedObject.FindProperty("maxFoamParticles");
+            maxParticleNeighbors = serializedObject.FindProperty("maxParticleNeighbors");
+            maxParticleContacts = serializedObject.FindProperty("maxParticleContacts");
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+            EditorGUILayout.HelpBox("Particles:" + solver.allocParticleCount + "\n" +
+                                    "Simplices:" + solver.simplexCounts.simplexCount + "\n" +
+                                    "Contacts:" + solver.contactCount + "\n" +
+                                    "Simplex contacts:" + solver.particleContactCount, MessageType.None);
+
+            solverFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(solverFoldout, "Solver settings");
+            if (solverFoldout)
+            {
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(backend);
+
+#if !(OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                if (backend.enumValueIndex == (int)ObiSolver.BackendType.Burst)
+                    EditorGUILayout.HelpBox("The Burst backend depends on the following packages: Mathematics, Collections, Jobs and Burst. Please install the required dependencies. The solver will try to fall back to the Compute backend instead.", MessageType.Warning);
+#endif
+                if (!SystemInfo.supportsComputeShaders)
+                {
+                    EditorGUILayout.HelpBox("This platform doesn't support compute shaders. Please switch to the Burst backend.", MessageType.Error);
+                }
+
+
+                if (EditorGUI.EndChangeCheck())
+                {
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiSolver).UpdateBackend();
+                }
+
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("mode"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("interpolation"));
+                EditorGUILayout.PropertyField(synchronization);
+                EditorGUILayout.PropertyField(substeps);
+                EditorGUILayout.PropertyField(maxStepsPerFrame);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            simulationFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(simulationFoldout, "Simulation settings");
+            if (simulationFoldout)
+            {
+                EditorGUILayout.PropertyField(gravitySpace);
+                EditorGUILayout.PropertyField(gravity);
+                EditorGUILayout.PropertyField(windSpace);
+                EditorGUILayout.PropertyField(ambientWind);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("sleepThreshold"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxVelocity"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxAngularVelocity"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("damping"));
+                EditorGUILayout.PropertyField(worldLinearInertiaScale);
+                EditorGUILayout.PropertyField(worldAngularInertiaScale);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxAnisotropy"));
+                EditorGUILayout.PropertyField(simulateWhenInvisible);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            advectionFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(advectionFoldout, "Foam settings");
+            if (advectionFoldout)
+            {
+                EditorGUILayout.PropertyField(foamSubsteps);
+                EditorGUILayout.PropertyField(maxFoamVelocityStretch);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("foamGravityScale"));
+                EditorGUILayout.PropertyField(foamFade);
+                EditorGUILayout.PropertyField(foamAccelAgingRange);
+                EditorGUILayout.PropertyField(foamAccelAging);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            collisionsFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(collisionsFoldout, "Collision settings");
+            if (collisionsFoldout)
+            {
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("colliderCCD"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("particleCCD"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("collisionMargin"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxDepenetration"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("shockPropagation"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("surfaceCollisionIterations"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("surfaceCollisionTolerance"));
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            constraintsFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(constraintsFoldout, "Constraint settings");
+            if (constraintsFoldout)
+            {
+                constraintLabelContent.text = "Distance";
+                EditorGUILayout.PropertyField(distanceConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Bending";
+                EditorGUILayout.PropertyField(bendingConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Particle collision / Queries";
+                EditorGUILayout.PropertyField(particleCollisionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Particle friction";
+                EditorGUILayout.PropertyField(particleFrictionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Collision";
+                EditorGUILayout.PropertyField(collisionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Friction";
+                EditorGUILayout.PropertyField(frictionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Skin";
+                EditorGUILayout.PropertyField(skinConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Volume";
+                EditorGUILayout.PropertyField(volumeConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Shape matching";
+                EditorGUILayout.PropertyField(shapeMatchingConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Tether";
+                EditorGUILayout.PropertyField(tetherConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Pin";
+                EditorGUILayout.PropertyField(pinConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Stitch";
+                EditorGUILayout.PropertyField(stitchConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Density";
+                EditorGUILayout.PropertyField(densityConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Stretch & Shear";
+                EditorGUILayout.PropertyField(stretchShearConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Bend & Twist";
+                EditorGUILayout.PropertyField(bendTwistConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Chain";
+                EditorGUILayout.PropertyField(chainConstraintParameters, constraintLabelContent);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            memoryFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(memoryFoldout, "Memory budget");
+            if (memoryFoldout)
+            {
+                EditorGUILayout.PropertyField(maxQueryResults);
+                EditorGUILayout.PropertyField(maxFoamParticles);
+
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(maxSurfaceChunks);
+                if (EditorGUI.EndChangeCheck())
+                {
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiSolver).dirtyRendering |= (int)Oni.RenderingSystemType.Fluid;
+                }
+
+                EditorGUILayout.PropertyField(maxParticleNeighbors);
+                EditorGUILayout.PropertyField(maxParticleContacts);
+
+                uint usedChunks = solver.usedSurfaceChunks;
+                float usagePercentage = usedChunks / (float)maxSurfaceChunks.intValue;
+                uint foamParticles = solver.initialized ? solver.implementation.activeFoamParticleCount : 0;
+
+                // memory consumption per chunk:
+                // (8 + 12 + 64*4 + 64*6*4 + 64*16) = 2836 bytes
+                EditorGUILayout.HelpBox("Active foam particles: " + foamParticles + "/" + maxFoamParticles.intValue + "\n"+ 
+                                        "Surface memory (Mb): " + string.Format("{0:N2}", maxSurfaceChunks.intValue * 0.002836f)+ "\n"+
+                                        "Used surface chunks: "+ usedChunks + "/"+ maxSurfaceChunks.intValue + ", hashtable usage "+ string.Format("{0:N1}", usagePercentage * 100) + "%", MessageType.None);
+
+                if (usagePercentage >= 0.5f)
+                {
+                    EditorGUILayout.HelpBox("Hashtable usage should be below 50% for best performance. Increase max surface chunks if % is too high.", MessageType.Warning);
+                }
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+                solver.PushSolverParameters();
+            }
+
+        }
+
+        [DrawGizmo(GizmoType.InSelectionHierarchy | GizmoType.Selected)]
+        static void DrawGizmoForSolver(ObiSolver solver, GizmoType gizmoType)
+        {
+
+            if ((gizmoType & GizmoType.InSelectionHierarchy) != 0)
+            {
+
+                Gizmos.color = new Color(1, 1, 1, 0.5f);
+                var bounds = solver.bounds;
+                Gizmos.DrawWireCube(bounds.center, bounds.size);
+            }
+
+        }
+
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta
new file mode 100644
index 00000000..07e52a91
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d776094922a7647ccb5194d08e93ceaf
+timeCreated: 1444024856
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils.meta b/xiaofang/Assets/Obi/Editor/Common/Utils.meta
new file mode 100644
index 00000000..b0089603
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b7a80ed0e578946aaad351df0313281a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs
new file mode 100644
index 00000000..d74b8dc4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs
@@ -0,0 +1,46 @@
+
+using UnityEditor;
+
+namespace Obi
+{
+    public class BooleanPreference
+    {
+        bool m_Value;
+        string m_Name;
+        bool m_Loaded;
+
+        public BooleanPreference(string name, bool value)
+        {
+            m_Name = name;
+            m_Loaded = false;
+            m_Value = value;
+        }
+
+        private void Load()
+        {
+            if (m_Loaded)
+                return;
+
+            m_Loaded = true;
+            m_Value = EditorPrefs.GetBool(m_Name, m_Value);
+        }
+
+        public bool value
+        {
+            get { Load(); return m_Value; }
+            set
+            {
+                Load();
+                if (m_Value == value)
+                    return;
+                m_Value = value;
+                EditorPrefs.SetBool(m_Name, value);
+            }
+        }
+
+        public static implicit operator bool(BooleanPreference s)
+        {
+            return s.value;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta
new file mode 100644
index 00000000..f74e188c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4af60554659c94226a5b3cf0b5987a5f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
new file mode 100644
index 00000000..be05d5a3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
@@ -0,0 +1,254 @@
+using System;
+using UnityEngine;
+using UnityEngine.SceneManagement;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using System.IO;
+using UnityEngine.Rendering;
+
+namespace Obi{
+
+    public static class ObiEditorUtils
+	{
+        static GUIStyle separatorLine;
+        static GUIStyle toggleablePropertyGroup;
+        static GUIStyle boldToggle;
+
+        public static GUIStyle GetSeparatorLineStyle()
+        {
+            if (separatorLine == null)
+            {
+                separatorLine = new GUIStyle(EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene).box);
+                separatorLine.normal.background = Resources.Load<Texture2D>("SeparatorLine");
+                separatorLine.border = new RectOffset(3, 3, 0, 0);
+                separatorLine.padding = new RectOffset(0, 0, 0, 0);
+                separatorLine.margin = new RectOffset(0, 0, 0, 0);
+                separatorLine.fixedHeight = 3;
+                separatorLine.stretchWidth = true;
+            }
+            return separatorLine;
+        }
+
+        public static GUIStyle GetToggleablePropertyGroupStyle()
+        {
+            if (toggleablePropertyGroup == null)
+            {
+                toggleablePropertyGroup = new GUIStyle();
+                toggleablePropertyGroup.normal.background = Resources.Load<Texture2D>("ToggleableGroupBg"); 
+                toggleablePropertyGroup.border = new RectOffset(3, 3, 3, 3);
+                toggleablePropertyGroup.padding = new RectOffset(0, 0, 0, 0);
+                toggleablePropertyGroup.margin = new RectOffset(0, 0, 3, 3);
+            }
+            return toggleablePropertyGroup;
+        }
+
+        public static GUIStyle GetBoldToggleStyle()
+        {
+            if (boldToggle == null)
+            {
+                boldToggle = new GUIStyle(EditorStyles.toggle);
+                boldToggle.fontStyle = FontStyle.Bold;
+            }
+            return boldToggle;
+        }
+
+        public static void SaveMesh (Mesh mesh, string title, string name, bool makeNewInstance = true, bool optimizeMesh = true) {
+
+			string path = EditorUtility.SaveFilePanel(title, "Assets/", name, "asset");
+			if (string.IsNullOrEmpty(path)) return;
+	        
+			path = FileUtil.GetProjectRelativePath(path);
+
+			Mesh meshToSave = (makeNewInstance) ? GameObject.Instantiate(mesh) as Mesh : mesh;
+
+			if (optimizeMesh)
+			     MeshUtility.Optimize(meshToSave);
+	        
+			AssetDatabase.CreateAsset(meshToSave, path);
+			AssetDatabase.SaveAssets();
+		}
+
+        public static void PlaceActorRoot(GameObject element, MenuCommand menuCommand)
+        {
+            GameObject parent = menuCommand.context as GameObject;
+
+            if (parent == null)
+            {
+                parent = GetOrCreateSolverObject();
+            }
+
+            if (parent.GetComponentsInParent<ObiSolver>(true).Length == 0)
+            {
+                // Create solver under context GameObject,
+                // and make that be the parent which actor is added under.
+                GameObject solver = CreateNewSolver();
+                solver.transform.SetParent(parent.transform, false);
+                parent = solver;
+            }
+
+            // The element needs to be already in its destination scene when the
+            // RegisterCreatedObjectUndo is performed; otherwise the scene it was created in is dirtied.
+            SceneManager.MoveGameObjectToScene(element, parent.scene);
+
+            Undo.RegisterCreatedObjectUndo(element, "Create " + element.name);
+
+            if (element.transform.parent == null)
+                Undo.SetTransformParent(element.transform, parent.transform, "Parent " + element.name);
+
+            GameObjectUtility.EnsureUniqueNameForSibling(element);
+
+            // We have to fix up the undo name since the name of the object was only known after reparenting it.
+            Undo.SetCurrentGroupName("Create " + element.name);
+
+            GameObjectUtility.SetParentAndAlign(element, parent);
+            Selection.activeGameObject = element;
+        }
+
+        // Helper function that returns a Solver GameObject; preferably a parent of the selection, or other existing Canvas.
+        private static GameObject GetOrCreateSolverObject()
+        {
+            GameObject selectedGo = Selection.activeGameObject;
+
+            // Try to find a gameobject that is the selected GO or one if its parents.
+            ObiSolver solver = (selectedGo != null) ? selectedGo.GetComponentInParent<ObiSolver>() : null;
+            if (IsValidSolver(solver))
+                return solver.gameObject;
+
+            // No solver in selection or its parents? Then use any valid solver.
+            // We have to find all loaded solvers, not just the ones in main scenes.
+            ObiSolver[] solverArray = StageUtility.GetCurrentStageHandle().FindComponentsOfType<ObiSolver>();
+            for (int i = 0; i < solverArray.Length; i++)
+                if (IsValidSolver(solverArray[i]))
+                    return solverArray[i].gameObject;
+
+            // No solver in the scene at all? Then create a new one.
+            return CreateNewSolver();
+        }
+
+        public static GameObject CreateNewSolver()
+        {
+            // Root for the actors.
+            var root = new GameObject("Obi Solver", typeof(ObiSolver));
+
+            // Works for all stages.
+            StageUtility.PlaceGameObjectInCurrentStage(root);
+            Undo.RegisterCreatedObjectUndo(root, "Create " + root.name);
+
+            return root;
+        }
+
+        static bool IsValidSolver(ObiSolver solver)
+        {
+            if (solver == null || !solver.gameObject.activeInHierarchy)
+                return false;
+
+            if (EditorUtility.IsPersistent(solver) || (solver.hideFlags & HideFlags.HideInHierarchy) != 0)
+                return false;
+
+            if (StageUtility.GetStageHandle(solver.gameObject) != StageUtility.GetCurrentStageHandle())
+                return false;
+
+            return true;
+        }
+
+        public static void DoPropertyGroup(GUIContent content, System.Action action)
+        {
+            EditorGUILayout.BeginVertical(GetToggleablePropertyGroupStyle());
+            {
+                EditorGUILayout.BeginHorizontal();
+                EditorGUILayout.LabelField(content, EditorStyles.boldLabel); 
+                EditorGUILayout.EndHorizontal();
+
+                if (action != null)
+                {
+                    EditorGUI.indentLevel++;
+                    action();
+                    EditorGUI.indentLevel--;
+                }
+            }
+            EditorGUILayout.EndVertical();
+        }
+
+        public static void DoToggleablePropertyGroup(SerializedProperty enabledProperty, GUIContent content, System.Action action)
+        {
+            bool enabled = GUI.enabled;
+            GUI.enabled &= enabledProperty.boolValue;
+            EditorGUILayout.BeginVertical(GetToggleablePropertyGroupStyle());
+            GUI.enabled = enabled;
+            {
+                EditorGUILayout.BeginHorizontal();
+                    enabledProperty.boolValue = EditorGUILayout.ToggleLeft(content,enabledProperty.boolValue,EditorStyles.boldLabel);
+                EditorGUILayout.EndHorizontal();
+
+                if (enabledProperty.boolValue && action != null)
+                {
+                    EditorGUI.indentLevel++;
+                    action();
+                    EditorGUI.indentLevel--;
+                }
+            }
+            EditorGUILayout.EndVertical();
+        }
+
+        public static int DoToolBar(int selected, GUIContent[] items)
+        {
+            // Keep the selected index within the bounds of the items array
+            selected = selected < 0 ? 0 : selected >= items.Length ? items.Length - 1 : selected;
+
+            GUIStyle style = GUI.skin.FindStyle("Button");
+
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            for (int i = 0; i < items.Length; i++)
+            {
+                if (i == 0 && items.Length > 1)
+                    style = GUI.skin.FindStyle("ButtonLeft");
+                else if (items.Length > 1 && i == items.Length-1)
+                    style = GUI.skin.FindStyle("ButtonRight");
+                else if (i > 0)
+                    style = GUI.skin.FindStyle("ButtonMid");
+                    
+
+                // Display toggle. Get if toggle changed.
+                bool change = GUILayout.Toggle(selected == i, items[i],style,GUILayout.Height(24));
+                // If changed, set selected to current index.
+                if (change)
+                    selected = i;
+            }
+            GUILayout.FlexibleSpace();
+            EditorGUILayout.EndHorizontal();
+
+            // Return the currently selected item's index
+            return selected;
+        }
+
+        public static void DrawArrowHandle(Vector3 posA, Vector3 posB, float headAngle = 30, float headLength = 0.18f)
        {
+            Handles.DrawLine(posA, posB);
+
+            var look = Quaternion.LookRotation(posA - posB, Camera.current.transform.forward);
+            var one = look * Quaternion.Euler(0, 180 + headAngle, 0) * new Vector3(0, 0, 1);
+            var two = look * Quaternion.Euler(0, 180 - headAngle, 0) * new Vector3(0, 0, 1);
+
+            var sizeA = HandleUtility.GetHandleSize(posA) * headLength;
+            Handles.DrawLine(posA, posA + one * sizeA);
+            Handles.DrawLine(posA, posA + two * sizeA);
+
+            var sizeB = HandleUtility.GetHandleSize(posB) * headLength;
+            Handles.DrawLine(posB, posB - one * sizeB);
+            Handles.DrawLine(posB, posB - two * sizeB);
        }
+
+        public static Material GetDefaultMaterial()
+        {
+            if (GraphicsSettings.defaultRenderPipeline != null)
+            {
+                return GraphicsSettings.defaultRenderPipeline.defaultMaterial;
+            }
+            else
+            {
+                return AssetDatabase.GetBuiltinExtraResource<Material>("Default-Diffuse.mat");
+            }
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta
new file mode 100644
index 00000000..582e6640
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 57c936f7a4f99456d944beed51c5b935
+timeCreated: 1452817402
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs
new file mode 100644
index 00000000..42d4e21d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs
@@ -0,0 +1,24 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiFoamGenerator)), CanEditMultipleObjects]
+    public class ObiFoamGeneratorEditor : Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+        }
+
+    }
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta
new file mode 100644
index 00000000..baab1807
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b9656e2c54d9e4c478c74ca6d97428f8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
new file mode 100644
index 00000000..1da9fd36
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
@@ -0,0 +1,121 @@
+using UnityEditor;
+using UnityEditorInternal;
+using UnityEngine;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiParticleAttachment))]
+    public class ObiParticleAttachmentEditor : Editor
+    {
+
+        SerializedProperty targetTransform;
+        SerializedProperty particleGroup;
+        SerializedProperty attachmentType;
+        SerializedProperty constrainOrientation;
+        SerializedProperty compliance;
+        SerializedProperty breakThreshold;
+
+        ObiParticleAttachment attachment;
+
+        public void OnEnable()
+        {
+
+            attachment = target as ObiParticleAttachment;
+            targetTransform = serializedObject.FindProperty("m_Target");
+            particleGroup = serializedObject.FindProperty("m_ParticleGroup");
+            attachmentType = serializedObject.FindProperty("m_AttachmentType");
+            constrainOrientation = serializedObject.FindProperty("m_ConstrainOrientation");
+            compliance = serializedObject.FindProperty("m_Compliance");
+            breakThreshold = serializedObject.FindProperty("m_BreakThreshold");
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            // warn about incorrect setups:
+            if (!attachmentType.hasMultipleDifferentValues && !targetTransform.hasMultipleDifferentValues)
+            {
+                if (attachmentType.enumValueIndex == (int)ObiParticleAttachment.AttachmentType.Dynamic)
+                {
+                    var targetValue = targetTransform.objectReferenceValue as UnityEngine.Component;
+                    if (targetValue != null)
+                    {
+                        var collider = targetValue.GetComponent<ObiColliderBase>();
+                        if (collider == null)
+                        {
+                            EditorGUILayout.HelpBox("Dynamic attachments require the target object to have a ObiCollider component. Either add one, or change the attachment type to Static.", MessageType.Warning);
+                        }
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            Transform trget = EditorGUILayout.ObjectField("Target", attachment.target, typeof(Transform), true) as Transform;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(attachment, "Set target");
+                attachment.target = trget;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(attachment);
+            }
+
+
+            var blueprint = attachment.actor.sourceBlueprint;
+
+            if (blueprint != null)
+            {
+                var rect = EditorGUILayout.GetControlRect();
+                var label = EditorGUI.BeginProperty(rect, new GUIContent("Particle group"), particleGroup);
+                rect = EditorGUI.PrefixLabel(rect, label);
+
+                if (GUI.Button(rect, attachment.particleGroup != null ? attachment.particleGroup.name : "None", EditorStyles.popup))
+                {
+                    // create the menu and add items to it
+                    GenericMenu menu = new GenericMenu();
+                    menu.allowDuplicateNames = true;
+
+                    for (int i = 0; i < blueprint.groups.Count; ++i)
+                    {
+                        menu.AddItem(new GUIContent(blueprint.groups[i].name), blueprint.groups[i] == attachment.particleGroup, OnParticleGroupSelected, blueprint.groups[i]);
+                    }
+
+                    // display the menu
+                    menu.DropDown(rect);
+                }
+
+                EditorGUI.EndProperty();
+            }
+
+            EditorGUILayout.PropertyField(attachmentType, new GUIContent("Type"));
+
+            if (attachment.actor.usesOrientedParticles)
+                EditorGUILayout.PropertyField(constrainOrientation, new GUIContent("Constraint Orientation"));
+
+            if (attachment.attachmentType == ObiParticleAttachment.AttachmentType.Dynamic)
+            {
+                EditorGUILayout.PropertyField(compliance, new GUIContent("Compliance"));
+                EditorGUILayout.PropertyField(breakThreshold, new GUIContent("Break threshold"));
+            }
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        // the GenericMenu.MenuFunction2 event handler for when a menu item is selected
+        void OnParticleGroupSelected(object index)
+        {
+            Undo.RecordObject(attachment, "Set particle group");
+            attachment.particleGroup = index as ObiParticleGroup;
+            PrefabUtility.RecordPrefabInstancePropertyModifications(attachment);
+        }
+    }
+
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta
new file mode 100644
index 00000000..4d17dbba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1587d981fa96c4b2291e19484a5a5b13
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs
new file mode 100644
index 00000000..d56e3277
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiRaycastHit
+    {
+        
+        /// Distance from the Raycast origin to the point of impact.
+        public float distance;
+        /// The position in model space where a raycast intercepted a triangle.
+        public Vector3 position;
+        /// The normal in model space of the triangle that this raycast hit.
+        public Vector3 normal;
+        /// The triangle index of the hit face.
+        public int triangle;
+
+        public ObiRaycastHit(float distance, Vector3 position, Vector3 normal, int triangle)
+        {
+            this.distance   = distance;
+            this.position   = position;
+            this.normal     = normal;
+            this.triangle   = triangle;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta
new file mode 100644
index 00000000..27e33591
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2eb47a91b4f7c4f4aa52d4b914caa96e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs b/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs
new file mode 100644
index 00000000..5ba601a9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs
@@ -0,0 +1,150 @@
+using System;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+
+	class PreviewHelpers
+	{
+
+		// Preview interaction related stuff:
+		static int sliderHash = "Slider".GetHashCode();
+		public static Vector2 Drag2D(Vector2 scrollPosition, Rect position)
+		{
+			int controlID = GUIUtility.GetControlID(PreviewHelpers.sliderHash, FocusType.Passive);
+			Event current = Event.current;
+			switch (current.GetTypeForControl(controlID))
+			{
+			case EventType.MouseDown:
+				if (position.Contains(current.mousePosition) && position.width > 50f)
+				{
+					GUIUtility.hotControl = controlID;
+					current.Use();
+					EditorGUIUtility.SetWantsMouseJumping(1);
+				}
+				break;
+			case EventType.MouseUp:
+				if (GUIUtility.hotControl == controlID)
+				{
+					GUIUtility.hotControl = 0;
+				}
+				EditorGUIUtility.SetWantsMouseJumping(0);
+				break;
+			case EventType.MouseDrag:
+				if (GUIUtility.hotControl == controlID)
+				{
+					scrollPosition -= current.delta * (float)((!current.shift) ? 1 : 3) / Mathf.Min(position.width, position.height) * 140f;
+					scrollPosition.y = Mathf.Clamp(scrollPosition.y, -90f, 90f);
+					current.Use();
+					GUI.changed = true;
+				}
+				break;
+			}
+			return scrollPosition;
+		}
+
+		public Camera m_Camera;
+		public float m_CameraFieldOfView = 30f;
+		public Light[] m_Light = new Light[2];
+		internal RenderTexture m_RenderTexture;
+		public PreviewHelpers() : this(false)
+		{
+		}
+		public PreviewHelpers(bool renderFullScene)
+		{
+			GameObject gameObject = EditorUtility.CreateGameObjectWithHideFlags("PreRenderCamera", HideFlags.HideAndDontSave, new Type[]
+			                                                                    {
+				typeof(Camera)
+			});
+			this.m_Camera = gameObject.GetComponent<Camera>();
+			this.m_Camera.fieldOfView = this.m_CameraFieldOfView;
+			this.m_Camera.cullingMask = 1 << 1;
+			this.m_Camera.enabled = false;
+			this.m_Camera.clearFlags = CameraClearFlags.SolidColor;
+			this.m_Camera.farClipPlane = 10f;
+			this.m_Camera.nearClipPlane = 1f;
+			this.m_Camera.backgroundColor = new Color(0.192156866f, 0.192156866f, 0.192156866f, 0);
+			this.m_Camera.renderingPath = RenderingPath.Forward;
+			this.m_Camera.useOcclusionCulling = false;
+
+			for (int i = 0; i < 2; i++)
+			{
+				GameObject gameObject2 = EditorUtility.CreateGameObjectWithHideFlags("PreRenderLight", HideFlags.HideAndDontSave, new Type[]
+				                                                                     {
+					typeof(Light)
+				});
+				this.m_Light[i] = gameObject2.GetComponent<Light>();
+				this.m_Light[i].type = LightType.Directional;
+				this.m_Light[i].intensity = 1f;
+				this.m_Light[i].enabled = false;
+			}
+
+			this.m_Light[0].color = new Color(0.4f, 0.4f, 0.45f, 0f);
+			this.m_Light[1].transform.rotation = Quaternion.Euler(340f, 218f, 177f);
+			this.m_Light[1].color = new Color(0.4f, 0.4f, 0.45f, 0f) * 0.7f;
+		}
+		public void Cleanup()
+		{
+			if (this.m_Camera)
+			{
+				UnityEngine.Object.DestroyImmediate(this.m_Camera.gameObject, true);
+			}
+			if (this.m_RenderTexture)
+			{
+				UnityEngine.Object.DestroyImmediate(this.m_RenderTexture);
+				this.m_RenderTexture = null;
+			}
+			Light[] light = this.m_Light;
+			for (int i = 0; i < light.Length; i++)
+			{
+				Light light2 = light[i];
+				if (light2)
+				{
+					UnityEngine.Object.DestroyImmediate(light2.gameObject, true);
+				}
+			}
+		}
+
+		private void InitPreview(Rect r)
+		{
+			int num = (int)r.width;
+			int num2 = (int)r.height;
+			if (!this.m_RenderTexture || this.m_RenderTexture.width != num || this.m_RenderTexture.height != num2)
+			{
+				if (this.m_RenderTexture)
+				{
+					UnityEngine.Object.DestroyImmediate(this.m_RenderTexture);
+					this.m_RenderTexture = null;
+				}
+				float scaleFactor = this.GetScaleFactor((float)num, (float)num2);
+				this.m_RenderTexture = new RenderTexture((int)((float)num * scaleFactor), (int)((float)num2 * scaleFactor), 16);
+				this.m_RenderTexture.hideFlags = HideFlags.HideAndDontSave;
+				this.m_Camera.targetTexture = this.m_RenderTexture;
+			}
+			float num3 = (this.m_RenderTexture.width > 0) ? Mathf.Max(1f, (float)this.m_RenderTexture.height / (float)this.m_RenderTexture.width) : 1f;
+			this.m_Camera.fieldOfView = Mathf.Atan(num3 * Mathf.Tan(this.m_CameraFieldOfView * 0.5f * 0.0174532924f)) * 57.29578f * 2f;
+
+		}
+		public float GetScaleFactor(float width, float height)
+		{
+			float a = Mathf.Max(Mathf.Min(width * 2f, 1024f), width) / width;
+			float b = Mathf.Max(Mathf.Min(height * 2f, 1024f), height) / height;
+			return Mathf.Min(a, b);
+		}
+
+		public void BeginPreview(Rect r, GUIStyle previewBackground)
+		{
+			this.InitPreview(r);
+			if (previewBackground == null || previewBackground == GUIStyle.none)
+			{
+				return;
+			}
+		}
+		public Texture EndPreview()
+		{
+			m_Camera.Render();
+			return this.m_RenderTexture;
+		}
+
+	}
+}
diff --git a/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta b/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta
new file mode 100644
index 00000000..8ff77efc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 886ef4783c97a4dac9034b48a6c94b6c
+timeCreated: 1438171037
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef b/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef
new file mode 100644
index 00000000..3c97604a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef
@@ -0,0 +1,33 @@
+{
+    "name": "Obi.Editor",
+    "references": [
+        "GUID:da7abd44cdeea48609605c1c2c9609c0"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "com.unity.collections",
+            "expression": "0.8.0-preview.5",
+            "define": "OBI_COLLECTIONS"
+        },
+        {
+            "name": "com.unity.burst",
+            "expression": "1.2.3-verified",
+            "define": "OBI_BURST"
+        },
+        {
+            "name": "com.unity.mathematics",
+            "expression": "1.0.1",
+            "define": "OBI_MATHEMATICS"
+        }
+    ],
+    "noEngineReferences": false
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef.meta b/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef.meta
new file mode 100644
index 00000000..770027d7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Obi.Editor.asmdef.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 180639cf42b5c450c8fdad7e31d2ec13
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs b/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs
new file mode 100644
index 00000000..06f1bb9d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs
@@ -0,0 +1,186 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public static class ObiParticleSelection
+    {
+
+        static int particleSelectorHash = "ObiParticleSelectorHash".GetHashCode();
+
+        static Vector2 startPos;
+        static Vector2 currentPos;
+        static bool dragging = false;
+        static Rect marquee;
+
+        public static bool DoSelection(Vector3[] positions,
+                                            bool[] selectionStatus,
+                                            bool[] facingCamera)
+        {
+
+            Matrix4x4 cachedMatrix = Handles.matrix;
+
+            int controlID = GUIUtility.GetControlID(particleSelectorHash, FocusType.Passive);
+            int selectedParticleIndex = -1;
+            bool selectionStatusChanged = false;
+
+            // select vertex on mouse click:
+            switch (Event.current.GetTypeForControl(controlID))
+            {
+
+                case EventType.MouseDown:
+
+                    if (Event.current.button != 0) break;
+
+                    startPos = Event.current.mousePosition;
+                    marquee.Set(0, 0, 0, 0);
+
+                    // If the user is not pressing shift, clear selection.
+                    if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                    {
+                        for (int i = 0; i < selectionStatus.Length; i++)
+                            selectionStatus[i] = false;
+                    }
+
+                    // Allow use of marquee selection
+                    if (Event.current.modifiers == EventModifiers.None || (Event.current.modifiers & EventModifiers.Shift) != 0)
+                        GUIUtility.hotControl = controlID;
+
+                    float minSqrDistance = System.Single.MaxValue;
+
+                    for (int i = 0; i < positions.Length; i++)
+                    {
+                        // skip not selectable particles:
+                        //if (!facingCamera[i] && (selectBackfaces & ObiActorBlueprintEditor.ParticleCulling.Back) != 0) continue;
+                        //if (facingCamera[i] && (selectBackfaces & ObiActorBlueprintEditor.ParticleCulling.Front) != 0) continue;
+
+                        // get particle position in gui space:
+                        Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                        // get distance from mouse position to particle position:
+                        float sqrDistance = Vector2.SqrMagnitude(startPos - pos);
+
+                        // check if this particle is closer to the cursor that any previously considered particle.
+                        if (sqrDistance < 100 && sqrDistance < minSqrDistance)
+                        { //magic number 100 = 10*10, where 10 is min distance in pixels to select a particle.
+                            minSqrDistance = sqrDistance;
+                            selectedParticleIndex = i;
+                        }
+
+                    }
+
+                    if (selectedParticleIndex >= 0)
+                    { // toggle particle selection status.
+
+                        selectionStatus[selectedParticleIndex] = !selectionStatus[selectedParticleIndex];
+                        selectionStatusChanged = true;
+                        GUIUtility.hotControl = controlID;
+                        Event.current.Use();
+
+                    }
+                    else if (Event.current.modifiers == EventModifiers.None)
+                    { // deselect all particles:
+                        for (int i = 0; i < selectionStatus.Length; i++)
+                            selectionStatus[i] = false;
+
+                        selectionStatusChanged = true;
+                    }
+
+                    break;
+
+                case EventType.MouseMove:
+                    SceneView.RepaintAll();
+                    break;
+
+                case EventType.MouseDrag:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        currentPos = Event.current.mousePosition;
+                        if (!dragging && Vector2.Distance(startPos, currentPos) > 5)
+                        {
+                            dragging = true;
+                        }
+                        else
+                        {
+                            GUIUtility.hotControl = controlID;
+                            Event.current.Use();
+                        }
+
+                        //update marquee rect:
+                        float left = Mathf.Min(startPos.x, currentPos.x);
+                        float right = Mathf.Max(startPos.x, currentPos.x);
+                        float bottom = Mathf.Min(startPos.y, currentPos.y);
+                        float top = Mathf.Max(startPos.y, currentPos.y);
+
+                        marquee = new Rect(left, bottom, right - left, top - bottom);
+
+                    }
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        dragging = false;
+
+                        for (int i = 0; i < positions.Length; i++)
+                        {
+
+                            // skip not selectable particles:
+                            //switch (selectBackfaces)
+                            {
+                                //case ObiActorBlueprintEditor.ParticleCulling.Back: if (!facingCamera[i]) continue; break;
+                                //case ObiActorBlueprintEditor.ParticleCulling.Front: if (facingCamera[i]) continue; break;
+                            }
+
+                            // get particle position in gui space:
+                            Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                            if (pos.x > marquee.xMin && pos.x < marquee.xMax && pos.y > marquee.yMin && pos.y < marquee.yMax)
+                            {
+                                selectionStatus[i] = true;
+                                selectionStatusChanged = true;
+                            }
+
+                        }
+
+                        GUIUtility.hotControl = 0;
+                        Event.current.Use();
+                    }
+
+                    break;
+
+                case EventType.Repaint:
+
+                    Handles.matrix = Matrix4x4.identity;
+
+                    if (dragging)
+                    {
+                        GUISkin oldSkin = GUI.skin;
+                        GUI.skin = EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene);
+                        Handles.BeginGUI();
+                        GUI.Box(new Rect(marquee.xMin, marquee.yMin, marquee.width, marquee.height), "");
+                        Handles.EndGUI();
+                        GUI.skin = oldSkin;
+                    }
+
+                    Handles.matrix = cachedMatrix;
+
+                    break;
+
+            }
+
+            return selectionStatusChanged;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs.meta b/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs.meta
new file mode 100644
index 00000000..c877a037
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/ObiParticleSelection.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7020925dabebf42b7915da74e58c3b5e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/ObiStitcherEditor.cs b/xiaofang/Assets/Obi/Editor/ObiStitcherEditor.cs
new file mode 100644
index 00000000..0c4b395b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/ObiStitcherEditor.cs
@@ -0,0 +1,287 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiStitcher component. 
+	 */
+	
+	[CustomEditor(typeof(ObiStitcher))] 
+	public class ObiStitcherEditor : Editor
+	{
+		
+		ObiStitcher stitcher;
+		static public bool editing = false;
+
+		static public Vector3 sewingToolHandle1 = Vector3.zero;
+		static public Vector3 sewingToolHandle2 = Vector3.one;
+
+		static public bool[] selectionStatus = new bool[0];
+		
+		public void OnEnable(){
+			stitcher = (ObiStitcher)target;
+
+			// initialize sewing tool to sensible values:
+			if (stitcher.Actor1 != null && stitcher.Actor2 != null){
+				sewingToolHandle1 = stitcher.Actor1.transform.position;
+				sewingToolHandle2 = stitcher.Actor2.transform.position;
+			}
+		}
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+
+			EditorGUI.BeginChangeCheck();
+			ObiActor actor1 = EditorGUILayout.ObjectField("First actor",stitcher.Actor1, typeof(ObiActor),true) as ObiActor;
+			if (EditorGUI.EndChangeCheck()){
+				Undo.RecordObject(stitcher, "Set first actor");
+				stitcher.Actor1 = actor1;
+                if (actor1 != null)
+                    sewingToolHandle1 = actor1.transform.position;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+			}
+
+			EditorGUI.BeginChangeCheck();
+			ObiActor actor2 = EditorGUILayout.ObjectField("Second actor",stitcher.Actor2, typeof(ObiActor),true) as ObiActor;
+			if (EditorGUI.EndChangeCheck()){
+				Undo.RecordObject(stitcher, "Set second actor");
+				stitcher.Actor2 = actor2;
+                if (actor2 != null)
+                    sewingToolHandle2 = actor2.transform.position;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+            }
+
+			if (stitcher.Actor1 != null && stitcher.Actor2 != null && stitcher.Actor1.solver != stitcher.Actor2.solver){
+				EditorGUILayout.HelpBox("Both actors must be managed by the same solver.",MessageType.Error);
+			}
+
+			EditorGUILayout.HelpBox("Stitch count: " + stitcher.StitchCount,MessageType.None);
+
+			// edit mode:
+			GUI.enabled = stitcher.Actor1 != null && stitcher.Actor2 != null;
+			editing = GUILayout.Toggle(editing,"Edit","LargeButton");
+
+			if (editing){
+
+				// Clear all stitches
+				if (GUILayout.Button("Clear all stitches")){
+					if (EditorUtility.DisplayDialog("Clearing stitches","Are you sure you want to remove all stitches?","Ok","Cancel")){
+						Undo.RecordObject(stitcher, "Clear all stitches");
+						stitcher.Clear();
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
+				}
+	
+				// Remove selected stitches
+				if (GUILayout.Button("Remove selected stitches")){
+
+					List<int> removedStitches = new List<int>();
+
+					for(int i = 0; i < selectionStatus.Length; ++i){
+						if (selectionStatus[i]){
+							removedStitches.Add(i);
+							selectionStatus[i] = false;
+						}
+					}
+
+					if (removedStitches.Count > 0){
+	
+						Undo.RecordObject(stitcher, "Remove stitches");
+
+						// Remove from last to first, to avoid throwing off subsequent indices:
+						foreach(int i in removedStitches.OrderByDescending(i => i)){
+							stitcher.RemoveStitch(i);
+						}
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
+				}
+
+				// Add stitch:
+				if (GUILayout.Button("Add Stitch"))
+                {
+                    FindClosestParticles(out int particle1, out int particle2);
+
+                    if (particle1 >= 0 && particle2 >= 0)
+                    {
+                        Undo.RecordObject(stitcher, "Add stitch");
+                        stitcher.AddStitch(particle1, particle2);
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
+                }
+			}
+			GUI.enabled = true;
+
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+				//stitcher.PushDataToSolver(ParticleData.NONE);
+				
+			}
+			
+		}
+
+		public void FindClosestParticles(out int particle1, out int particle2)
+        {
+            particle1 = -1;
+            particle2 = -1;
+            float minDistance = float.MaxValue;
+
+            if (stitcher.Actor1 == null || stitcher.Actor2 == null)
+                return;
+
+            var handle1 = HandleUtility.WorldToGUIPointWithDepth(sewingToolHandle1);
+            var handle2 = HandleUtility.WorldToGUIPointWithDepth(sewingToolHandle2);
+
+            if (stitcher.Actor1 == stitcher.Actor2)
+            {
+				float minDistance2 = float.MaxValue;
+                for (int i = 0; i < stitcher.Actor1.activeParticleCount;++i)
+                {
+					Vector3 pos = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[i]);
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+					float distance1 = (pos - handle1).sqrMagnitude;
+					float distance2 = (pos - handle2).sqrMagnitude;
+					if (distance1 < minDistance){
+						minDistance = distance1;
+						particle1 = i;
+					}
+					if (distance2 < minDistance2){
+						minDistance2 = distance2;
+						particle2 = i;
+					}
+				}
+			}else{
+
+				// find closest particle to each end of the sewing tool:
+                for (int i = 0; i < stitcher.Actor1.activeParticleCount; ++i)
+                {
+					Vector3 pos = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[i]);
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+                    float min = (pos - handle1).sqrMagnitude;
+					if (min < minDistance)
+                    {
+						minDistance = min;
+						particle1 = i;
+					}
+				}
+		
+				minDistance = float.MaxValue;
+                for (int i = 0; i < stitcher.Actor2.activeParticleCount; ++i)
+                {
+					Vector3 pos = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[i]);
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+					float min = (pos - handle2).sqrMagnitude;
+					if (min < minDistance)
+                    {
+						minDistance = min;
+						particle2 = i;
+					}
+				}
+			}
+		}
+
+		public void DrawSewingTool()
+        {
+
+            FindClosestParticles(out int particle1, out int particle2);
+
+            if (particle1 >= 0 && particle2 >= 0)
+            {
+                sewingToolHandle1 = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[particle1]);
+                sewingToolHandle2 = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[particle2]);
+
+                float radius1 = stitcher.Actor1.GetParticleMaxRadius(stitcher.Actor1.solverIndices[particle1]);
+                float radius2 = stitcher.Actor2.GetParticleMaxRadius(stitcher.Actor2.solverIndices[particle2]);
+
+                Handles.color = Color.white;
+#if (UNITY_2022_1_OR_NEWER)
+                sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1, radius1 * 2, new Vector3(.5f,.5f,.5f),Handles.SphereHandleCap);
+			    sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2, radius2 * 2, new Vector3(.5f,.5f,.5f),Handles.SphereHandleCap);
+#else
+                sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1, Quaternion.identity, radius1 * 2, new Vector3(.5f, .5f, .5f), Handles.SphereHandleCap);
+                sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2, Quaternion.identity, radius2 * 2, new Vector3(.5f, .5f, .5f), Handles.SphereHandleCap);
+#endif
+
+                Vector3 direction = Vector3.Normalize(sewingToolHandle2 - sewingToolHandle1);
+                Handles.color = Color.yellow;
+                ObiEditorUtils.DrawArrowHandle(sewingToolHandle1 + direction*(radius1 + 0.05f), sewingToolHandle2 - direction*(radius2+0.05f)); 
+            }
+		}
+
+		/**
+		 * Draws selected stitches in the scene view and allows their selection.
+		 */
+		public void OnSceneGUI(){
+
+			Array.Resize(ref selectionStatus,stitcher.StitchCount);
+
+			if (!editing)
+				return;
+			
+			DrawSewingTool();
+
+			if (stitcher.Actor1 != null && stitcher.Actor2 != null){
+
+				int controlID = GUIUtility.GetControlID("stitcher".GetHashCode(),FocusType.Passive);
+				float distanceToClosest = float.MaxValue;
+				int selectedIndex = -1;
+				int i = 0;
+
+				foreach(ObiStitcher.Stitch stitch in stitcher.Stitches){
+					
+					Vector3 pos1 = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[stitch.particleIndex1]);
+					Vector3 pos2 = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[stitch.particleIndex2]);
+	
+					switch (Event.current.GetTypeForControl(controlID)){
+						case EventType.MouseDown: 
+			
+							if (Event.current.button != 0) break;
+
+							// If the user is pressing shift, accumulate selection.
+							if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0){
+								for(int j = 0; j < selectionStatus.Length; j++)
+									selectionStatus[j] = false;
+							}
+
+							float distance = HandleUtility.DistanceToLine(pos1,pos2);
+							if (distance < 10 && distance < distanceToClosest){
+
+								distanceToClosest = distance;
+								selectedIndex = i;
+				
+								// Prevent deselection if we have selected a stitch:
+								GUIUtility.hotControl = controlID;
+								Event.current.Use();
+
+							}
+						break;
+						case EventType.Repaint:
+							Handles.color = selectionStatus[i]?Color.red:Color.cyan;
+							Handles.DrawDottedLine(pos1,pos2,2);
+						break;
+					}
+					++i;
+				}
+
+				if (selectedIndex >= 0){
+					selectionStatus[selectedIndex] = !selectionStatus[selectedIndex];
+				}
+
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/ObiStitcherEditor.cs.meta b/xiaofang/Assets/Obi/Editor/ObiStitcherEditor.cs.meta
new file mode 100644
index 00000000..b0c18e2e
--- /dev/null
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@@ -0,0 +1,12 @@
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new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/AddControlPoint.psd b/xiaofang/Assets/Obi/Editor/Resources/AddControlPoint.psd
new file mode 100644
index 00000000..d968222e
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new file mode 100644
index 00000000..5dbc5521
--- /dev/null
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@@ -0,0 +1,59 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/BrushIcon.psd b/xiaofang/Assets/Obi/Editor/Resources/BrushIcon.psd
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new file mode 100644
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat
new file mode 100644
index 00000000..a3f31843
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat
@@ -0,0 +1,87 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!21 &2100000
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat.meta b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat.meta
new file mode 100644
index 00000000..0e5f4b00
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader
new file mode 100644
index 00000000..5b6de21f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader
@@ -0,0 +1,121 @@
+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+// Upgrade NOTE: replaced '_World2Object' with 'unity_WorldToObject'
+
+ 
+Shader "Obi/Distance Field Preview" {
+	Properties {
+	    _Volume ("Texture", 3D) = "" {}
+		_AABBMin("AABB Min",Vector) = (-0.5,-0.5,-0.5)
+		_AABBMax("AABB Max",Vector) = (0.5,0.5,0.5)
+		_InsideColor("Inside color",Color) = (1,1,1,1)
+		_OutsideColor("Outside color",Color) = (0,0,0,1)
+		_Absorption("Absorption",Float) = 1.5
+		_StepSize("Step size",Float) = 0.01
+		_MaxSteps("Max steps",Int) = 300
+	}
+	SubShader {
+	Pass {
+	 
+	CGPROGRAM
+	#pragma vertex vert
+	#pragma fragment frag
+	#pragma exclude_renderers flash gles
+	 
+	#include "UnityCG.cginc"
+	 
+	struct vs_input {
+	    float4 vertex : POSITION;
+	};
+	 
+	struct ps_input {
+	    float4 pos : SV_POSITION;
+	    float3 eyeOrigin : TEXCOORD0;
+		float3 eyeDir : TEXCOORD1;
+	};
+	 
+	 
+	ps_input vert (vs_input v)
+	{
+	    ps_input o;
+	    o.pos = UnityObjectToClipPos (v.vertex);
+
+		o.eyeOrigin = mul((float3x3)unity_WorldToObject, _WorldSpaceCameraPos); // object space eye origin
+		o.eyeDir = -ObjSpaceViewDir(v.vertex);	// object space eye direction
+	    return o;
+	}
+	 
+	sampler3D _Volume;
+	float3 _AABBMin;
+	float3 _AABBMax;
+	float _Absorption;
+	float _StepSize;
+	int _MaxSteps;
+	half4 _InsideColor;
+	half4 _OutsideColor;
+
+	bool IntersectBox(float3 rayOrigin, float3 rayDir, float3 aabbMin, float3 aabbMax, out float t0, out float t1)
+	{
+	    float3 invR = 1.0 / rayDir;
+	    float3 tbot = invR * (aabbMin-rayOrigin);
+	    float3 ttop = invR * (aabbMax-rayOrigin);
+	    float3 tmin = min(ttop, tbot);
+	    float3 tmax = max(ttop, tbot);
+	    float2 t = max(tmin.xx, tmin.yz);
+	    t0 = max(t.x, t.y);
+	    t = min(tmax.xx, tmax.yz);
+	    t1 = min(t.x, t.y);
+	    return t0 <= t1;
+	}
+
+	 
+	float4 frag (ps_input input) : COLOR
+	{
+		float4 dst = float4(0.0, 0.0, 0.0, 0.0);
+
+		// Calculate ray direction
+		float3 eyeDirection = normalize(input.eyeDir);
+
+		//Calculate intersection with bounding box:
+		float tnear, tfar;
+		if (IntersectBox(input.eyeOrigin,eyeDirection,_AABBMin,_AABBMax,tnear,tfar)){
+			if (tnear < 0.0) tnear = 0.0;
+	
+			//Calculate ray start and stop positions:
+			float3 rayStart = input.eyeOrigin + eyeDirection * tnear;
+	   		float3 rayStop = input.eyeOrigin + eyeDirection * tfar;
+	
+			// Transform from object space bounds to texture coordinate space:
+			float3 aabbSize = _AABBMax-_AABBMin;
+			rayStart = (rayStart-_AABBMin) / aabbSize;
+	    	rayStop = (rayStop-_AABBMin) / aabbSize;
+	
+			// Raytrace:
+			float3 pos = rayStart;
+	    	float3 step = normalize(rayStop-rayStart) * _StepSize;
+	    	float travel = distance(rayStop,rayStart);
+	
+	    	for (int i=0; i < _MaxSteps && travel > 0.0; ++i, pos += step, travel -= _StepSize) {
+	
+				float value = tex3Dlod(_Volume, float4(pos,0)).a;
+				float4 color;
+				if (value > 0.5){ //outside the surface.
+					color = _OutsideColor * (1 - value) * 2;
+				}else{			  //inside the surface.
+					color = _InsideColor * value * 2;
+				}
+				dst += color * _StepSize * _Absorption;
+	
+	    	}
+		}
+
+        return dst;
+	}
+	 
+	ENDCG
+	 
+	}
+	}
+	 
+	Fallback "VertexLit"
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader.meta b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader.meta
new file mode 100644
index 00000000..84621625
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditParticles.psd b/xiaofang/Assets/Obi/Editor/Resources/EditParticles.psd
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorLineShader.shader b/xiaofang/Assets/Obi/Editor/Resources/EditorLineShader.shader
new file mode 100644
index 00000000..d44991f8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorLineShader.shader
@@ -0,0 +1,17 @@
+Shader "Obi/EditorLines" 
+{
+	SubShader 
+	{ 
+		Pass 
+		{
+		    Blend SrcAlpha OneMinusSrcAlpha 
+			Cull Off 
+			ZTest Always
+			Fog { Mode Off }  
+		    BindChannels 
+			{
+		      Bind "vertex", vertex Bind "color", color 
+			}
+		} 
+	} 
+}
\ No newline at end of file
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorLines.mat b/xiaofang/Assets/Obi/Editor/Resources/EditorLines.mat
new file mode 100644
index 00000000..22d38a1f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorLines.mat
@@ -0,0 +1,81 @@
+%YAML 1.1
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat
new file mode 100644
index 00000000..15f5c248
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat
@@ -0,0 +1,76 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat.meta b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat.meta
new file mode 100644
index 00000000..c04a6220
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.mat.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader
new file mode 100644
index 00000000..214d6e40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader
@@ -0,0 +1,60 @@
+Shader "Obi/EditorPoint"
+{
+    SubShader
+    {
+        Blend One OneMinusSrcAlpha
+        ZWrite Off
+        ZTest always 
+        Cull Back 
+ 
+        Pass
+        {
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+         
+            #include "UnityCG.cginc"
+ 
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float3 corner   : NORMAL;
+                fixed4 color    : COLOR;
+                float4 t0 : TEXCOORD0; // ellipsoid t1 vector
+            };
+ 
+            struct v2f
+            {
+                float4 pos : SV_POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord : TEXCOORD0;
+            };
+         
+            v2f vert (appdata v)
+            {
+                v2f o;
+                
+                // particle positions are passed in world space, no need to use modelview matrix, just view.
+                float radius = v.t0.w * distance(mul(unity_ObjectToWorld, v.vertex), _WorldSpaceCameraPos);
+                float4 viewpos = mul(UNITY_MATRIX_V, v.vertex) + float4(v.corner.x, v.corner.y, 0, 0) * radius;
+                o.pos = mul(UNITY_MATRIX_P, viewpos); 
+
+                o.texcoord = float3(v.corner.x*0.5, v.corner.y*0.5, radius);
+                o.color = v.color;
+
+                return o;
+            }
+ 
+            fixed4 frag (v2f i) : SV_Target
+            {
+                // antialiased circle:
+                float dist = length(i.texcoord);
+                float pwidth = fwidth(dist);
+                float alpha = i.color.a * saturate((0.5 - dist) / pwidth);
+                
+                return fixed4(i.color.rgb * alpha, alpha);
+            }
+            ENDCG
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader.meta b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader.meta
new file mode 100644
index 00000000..3dd4ff7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticle.shader.meta
@@ -0,0 +1,9 @@
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+timeCreated: 1445287084
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader b/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader
new file mode 100644
index 00000000..649a3088
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader
@@ -0,0 +1,118 @@
+Shader "Obi/EditorParticles" {
+
+    Properties {
+    	_Color 		("Particle color", Color) = (1,1,1,1)
+    	_RadiusScale("Radius scale",float) = 1
+    }
+
+	SubShader { 
+
+		Pass { 
+
+                Name "EditorParticle"
+                Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque"}
+                Blend SrcAlpha OneMinusSrcAlpha  
+
+                CGPROGRAM
+                #pragma vertex vert
+                #pragma fragment frag
+                #pragma fragmentoption ARB_precision_hint_fastest
+
+                #include "../../Resources/ObiMaterials/Common/ObiEllipsoids.cginc"
+                #include "../../Resources/ObiMaterials/Common/ObiUtils.cginc"
+
+                fixed4 _Color;
+
+                struct vin{
+                	float4 vertex   : POSITION;
+                	float3 corner   : NORMAL;
+                	fixed4 color    : COLOR;
+
+                	float4 t0 : TEXCOORD0; // ellipsoid t1 vector
+                    float4 t1 : TEXCOORD1; // ellipsoid t2 vector
+                    float4 t2 : TEXCOORD2; // ellipsoid t3 vector
+                };
+
+                struct v2f
+                {
+                	float4 pos   : SV_POSITION;
+                	fixed4 color    : COLOR;
+                	float4 mapping  : TEXCOORD0;
+                	float3 viewRay : TEXCOORD1;
+                	float3 lightDir : TEXCOORD2;
+                	float3 a2 : TEXCOORD3;
+                	float3 a3 : TEXCOORD4;
+                };
+
+                struct fout 
+                {
+                    half4 color : SV_Target;
+                    float depth : SV_Depth;
+                };
+
+                v2f vert(vin v)
+                { 
+                	float3x3 P, IP;
+                	BuildParameterSpaceMatrices(v.t0,v.t1,v.t2,P,IP);
+
+                	float3 worldPos;
+                	float3 view;
+                	float3 eye;
+                	float radius = BuildEllipsoidBillboard(v.vertex,v.corner,P,IP,worldPos,view,eye);
+
+                	v2f o;
+                	o.pos = mul(UNITY_MATRIX_VP, float4(worldPos,v.vertex.w));
+                	o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
+                	o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
+                	o.color = v.color * _Color;
+
+                	BuildAuxiliaryNormalVectors(v.vertex,worldPos,view,P,IP,o.a2,o.a3);
+                			
+                	o.lightDir = mul((float3x3)UNITY_MATRIX_MV, float3(0.5f,0.5f,0.5f));
+
+                	return o;
+                }
+
+                fout frag(v2f i) 
+                {
+                    fout fo;
+
+                    fo.color =  half4(0,0,0,i.color.a); 
+
+                    // generate sphere normals:
+                    float3 p,n;
+                    IntersectEllipsoid(i.viewRay,i.mapping, i.a2,i.a3,p, n);
+
+                    // clip space position:
+                    float4 pos = mul(UNITY_MATRIX_P,float4(p,1.0));
+
+                    // simple lighting: ambient
+                    float3 modelUp = mul (UNITY_MATRIX_IT_MV,float3(0,1,0));
+                    float vecHemi = dot(n, modelUp) * 0.5f + 0.5f;
+                    half3 amb = 0.6f * lerp(float3(0.5f,0.48f,0.45f), float3(0.8f,0.9f,1), vecHemi);
+
+                    // simple lighting: diffuse
+                    float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
+
+                    // final lit color:
+                    fo.color.rgb = i.color * (0.5f * ndotl + amb);
+
+                    // normalized device coordinates:
+                    fo.depth = pos.z/pos.w;
+
+                    // in openGL calculated depth range is <-1,1> map it to <0,1>
+                    #if SHADER_API_OPENGL || SHADER_API_GLCORE || SHADER_API_GLES || SHADER_API_GLES3	 
+                    fo.depth = 0.5*fo.depth + 0.5;
+                    #endif
+
+                    return fo;
+                }
+
+                ENDCG
+
+		} 
+
+	} 
+FallBack "Diffuse"
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader.meta b/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader.meta
new file mode 100644
index 00000000..7e76c5af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/EditorParticleShader.shader.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: f909e74f185674832ad45806b9c6e60f
+timeCreated: 1438934781
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
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new file mode 100644
index 00000000..70551f0a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/PaddingMaterial.mat
@@ -0,0 +1,77 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!21 &2100000
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new file mode 100644
index 00000000..b85cec38
--- /dev/null
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/PaddingShader.shader b/xiaofang/Assets/Obi/Editor/Resources/PaddingShader.shader
new file mode 100644
index 00000000..afab7e2f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/PaddingShader.shader
@@ -0,0 +1,81 @@
+Shader "Obi/PaddingShader"
+{
+	Properties
+	{
+		_MainTex ("Texture", 2D) = "white" {}
+        _Padding ("Paddding", Int) = 32
+	}
+	SubShader
+	{
+		// No culling or depth
+		Cull Off ZWrite Off ZTest Always
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+				float4 vertex : SV_POSITION;
+			};
+
+			v2f vert (appdata v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				o.uv = v.uv;
+				return o;
+			}
+			
+			sampler2D _MainTex;
+            float4 _MainTex_TexelSize;
+            int _Padding;
+            static const float2 offsets[8] = {float2(-1,0), float2(1,0), float2(0,1), float2(0,-1), float2(-1,1), float2(1,1), float2(1,-1), float2(-1,-1)};
+
+			fixed4 frag (v2f i) : SV_Target
+			{
+            
+                fixed4 sample = tex2D(_MainTex, i.uv);
+
+                if (sample.a > 0) 
+                    return sample;
+
+                fixed4 minSample = sample;
+                float minDist = 99999999;
+
+                for  (int k = 1; k < _Padding; ++k)
+                {
+                    for  (int j = 0; j < 8; ++j)
+                    {
+                        float2 offsetUV = i.uv + offsets[j] * _MainTex_TexelSize.xy * k;
+                        fixed4 offsetSample = tex2Dlod(_MainTex, float4(offsetUV.xy,0,0));
+
+                        if (offsetSample.a > 0) 
+                        {
+                            float dist = length(i.uv - offsetUV);
+                            if (dist < minDist)
+                            {
+                                minDist = dist;
+                                minSample = offsetSample;
+                            }
+                        }
+                    }
+                }
+
+                return minSample;
+			}
+			ENDCG
+		}
+	}
+}
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new file mode 100644
index 00000000..88728fde
--- /dev/null
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@@ -0,0 +1,9 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/PropertyGradientMaterial.mat.meta b/xiaofang/Assets/Obi/Editor/Resources/PropertyGradientMaterial.mat.meta
new file mode 100644
index 00000000..ee658f29
--- /dev/null
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@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader b/xiaofang/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
new file mode 100644
index 00000000..73c3cebd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
@@ -0,0 +1,95 @@
+Shader "Obi/PropertyGradientMaterial" {
+
+	Properties {
+        _MainTex ("Base (RGB)", 2D) = "white" {}
+    }
+
+	SubShader { 
+
+		Pass {
+       
+             Offset -0.5, -0.5
+		    Cull Back 
+			Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+			struct vin{
+				float4 vertex   : POSITION;
+				fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+			};
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+            };
+
+			sampler2D _MainTex;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+				o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                return i.color;
+            }
+
+            ENDCG
+        }
+
+        Pass {
+
+            Offset -1, -1
+            Cull Back 
+            ZWrite Off
+            Blend SrcAlpha OneMinusSrcAlpha
+            Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            struct vin{
+                float4 vertex   : POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord  : TEXCOORD0;
+            };
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord  : TEXCOORD0;
+            };
+
+            sampler2D _MainTex;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+                o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                return i.color;
+            }
+
+            ENDCG
+        }
+ 
+	} 
+}
+
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new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/RemoveButton.psd b/xiaofang/Assets/Obi/Editor/Resources/RemoveButton.psd
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new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/RemoveControlPoint.psd b/xiaofang/Assets/Obi/Editor/Resources/RemoveControlPoint.psd
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new file mode 100644
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index 00000000..923f6aa4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/TopologyBorders.shader
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+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+
+Shader "Obi/TopologyBorders" {
+Properties {
+	_Color ("Main Color", Color) = (1,1,1,1)
+}
+
+SubShader {
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+	LOD 100
+	
+	Pass {  
+
+		ZWrite Off 
+		ZTest always 
+		Cull Off 
+		Fog { Mode Off }
+
+		CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			#pragma multi_compile_fog
+			
+			#include "UnityCG.cginc"
+
+			struct appdata_t {
+				float4 vertex : POSITION;
+			};
+
+			struct v2f {
+				float4 vertex : SV_POSITION;
+			};
+
+			fixed4 _Color;
+			
+			v2f vert (appdata_t v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				return o;
+			}
+			
+			fixed4 frag (v2f i) : COLOR
+			{
+				fixed4 col = _Color;
+				UNITY_OPAQUE_ALPHA(col.a);
+				return col;
+			}
+		ENDCG
+	}
+}
+
+}
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColor.shader b/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColor.shader
new file mode 100644
index 00000000..c8b2ac3e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColor.shader
@@ -0,0 +1,47 @@
+Shader "Obi/UVSpaceColor"
+{
+	SubShader
+	{
+		Tags { "RenderType"="Opaque" }
+		LOD 100
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+                fixed4 color    : COLOR;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+                fixed4 color    : COLOR;
+				float4 vertex : SV_POSITION;
+			};
+			
+			v2f vert (appdata v)
+			{
+				v2f o;
+                o.uv = v.uv;
+                o.vertex = float4(v.uv.xy,0,1);
+				o.vertex = UnityObjectToClipPos(float4(v.uv,0,1));
+                o.color = v.color;
+				return o;
+			}
+			
+			fixed4 frag (v2f i) : SV_Target
+			{
+				return i.color;
+			}
+			ENDCG
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColor.shader.meta b/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColor.shader.meta
new file mode 100644
index 00000000..367df23a
--- /dev/null
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@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat b/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat
new file mode 100644
index 00000000..9bbe0d27
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat
@@ -0,0 +1,76 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/UnpinButton.psd b/xiaofang/Assets/Obi/Editor/Resources/UnpinButton.psd
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new file mode 100644
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new file mode 100644
index 00000000..0662b1c7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.mat
@@ -0,0 +1,79 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta
new file mode 100644
index 00000000..344e7c4d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader
new file mode 100644
index 00000000..55d1a82b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader
@@ -0,0 +1,63 @@
+Shader "Obi/VoxelMaterial" {
+
+	Properties {
+        _MainTex ("Base (RGB)", 2D) = "white" {}
+        _Size("Square size",Float) = 0.95
+        _InsideColor("Inside color",Color) = (1,1,1,1)
+        _OutsideColor("Outside color",Color) = (0,0,0,1)
+    }
+
+	SubShader { 
+
+		Pass {
+       
+			Cull Back 
+			Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+			struct vin{
+				float4 vertex   : POSITION;
+				fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+			};
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+			   float2 texcoord  : TEXCOORD0;
+            };
+
+		   sampler2D _MainTex;
+            float _Size;
+            fixed4 _InsideColor;
+            fixed4 _OutsideColor;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+			   o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                
+                float2 centered = i.texcoord * 2 - 1;
+                float square = max(abs(centered.x), abs(centered.y)) - 0.05f/(2.0*1.4142);
+                float width = fwidth(square);
+                float alpha = smoothstep(_Size - width, _Size,  square);
+
+                return lerp(_InsideColor,_OutsideColor,alpha);
+            }
+
+            ENDCG
+        }
+ 
+	} 
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader.meta b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader.meta
new file mode 100644
index 00000000..d5800a63
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/VoxelMaterial.shader.meta
@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Editor/Resources/obi_editor_logo.png b/xiaofang/Assets/Obi/Editor/Resources/obi_editor_logo.png
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new file mode 100644
index 00000000..464725b2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/Resources/obi_editor_logo.png.meta
@@ -0,0 +1,59 @@
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diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod.meta
new file mode 100644
index 00000000..2f90f428
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod.meta
@@ -0,0 +1,10 @@
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+guid: 00c9b99ffa90a4646b360dcad1ea0b84
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+- ObiRope
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diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints.meta
new file mode 100644
index 00000000..2d99c230
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs
new file mode 100644
index 00000000..ff5c98e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs
@@ -0,0 +1,58 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    [CustomEditor(typeof(ObiRopeBlueprintBase), true)]
+    public class ObiRopeBaseBlueprintEditor : ObiActorBlueprintEditor
+    {
+
+        public override void OnEnable()
+        {
+            base.OnEnable();
+            Undo.undoRedoPerformed += UndoRedoPerformed;
+        }
+
+        public override void OnDisable()
+        {
+            base.OnDisable();
+            Undo.undoRedoPerformed -= UndoRedoPerformed;
+        }
+
+        void UndoRedoPerformed()
+        {
+            // Re-generate the blueprint after undo/redo.
+            if (blueprint != null)
+                blueprint.GenerateImmediate();
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            EditorGUILayout.EndVertical();
+
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+
+                // Re-generate the blueprint if any element has been changed.
+                if (blueprint != null)
+                    blueprint.GenerateImmediate();
+
+                // There might be blueprint editing operations that have no undo entry, so do this to 
+                // ensure changes are serialized to disk by Unity.
+                EditorUtility.SetDirty(this);
+            }
+        }
+    }
+
+
+}
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta
new file mode 100644
index 00000000..c5925c27
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 87efff4816bdd4fa4bda69ca33516658
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs
new file mode 100644
index 00000000..8d240cde
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs
@@ -0,0 +1,29 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{ 
+    [CustomPropertyDrawer(typeof(ObiBone.BonePropertyCurve))]
+    public class BonePropertyCurveDrawer : PropertyDrawer
+    {
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            EditorGUI.BeginProperty(position, label, property);
+
+            float curveFieldWidth = (position.width - EditorGUIUtility.labelWidth) * 0.5f;
+
+            var multRect = new Rect(position.x, position.y, position.width - curveFieldWidth, position.height);
+            EditorGUI.PropertyField(multRect, property.FindPropertyRelative("multiplier"), label);
+
+            var indent = EditorGUI.indentLevel;
+            EditorGUI.indentLevel = 0;
+
+            var curveRect = new Rect(position.x + position.width - curveFieldWidth + 3, position.y, curveFieldWidth - 3, position.height);
+            EditorGUI.CurveField(curveRect, property.FindPropertyRelative("curve"), Color.green, new Rect(0, 0, 1, 1), GUIContent.none);
+
+            EditorGUI.indentLevel = indent;
+
+            EditorGUI.EndProperty();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta
new file mode 100644
index 00000000..3fb84d07
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b78a1342294ee4644a9a0d6a247d3604
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs
new file mode 100644
index 00000000..2ba8fccf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs
@@ -0,0 +1,30 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    [CustomPropertyDrawer(typeof(ObiBone.IgnoredBone))]
+    public class IgnoredBoneDrawer : PropertyDrawer
+    {
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            EditorGUI.BeginProperty(position, label, property);
+
+            GUI.Box(EditorGUI.IndentedRect(position), GUIContent.none, ObiEditorUtils.GetToggleablePropertyGroupStyle());
+
+            var rect = new Rect(position.x + 4, position.y + EditorGUIUtility.standardVerticalSpacing, position.width - 8, EditorGUIUtility.singleLineHeight);
+            EditorGUI.PropertyField(rect, property.FindPropertyRelative("bone"), label);
+
+            rect.position = new Vector2(rect.position.x, rect.position.y + EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing);
+            EditorGUI.PropertyField(rect, property.FindPropertyRelative("ignoreChildren"));
+
+            EditorGUI.EndProperty();
+        }
+
+        public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+        {
+            int lineCount = 2;
+            return EditorGUIUtility.singleLineHeight * lineCount + EditorGUIUtility.standardVerticalSpacing * (lineCount + 1);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta
new file mode 100644
index 00000000..f1da0074
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f9e4bd0b2f9544e039fef4cd5d95232f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
new file mode 100644
index 00000000..0aedd61e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
@@ -0,0 +1,225 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiBone))]
+    public class ObiBoneEditor : Editor
+    {
+        ObiBone bone;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions;
+
+        SerializedProperty mass;
+        SerializedProperty rotationalMass;
+        SerializedProperty radius;
+
+        SerializedProperty skinConstraintsEnabled;
+        SerializedProperty skinCompliance;
+        SerializedProperty skinRadius;
+
+        SerializedProperty stretchShearConstraintsEnabled;
+        SerializedProperty stretchCompliance;
+        SerializedProperty shear1Compliance;
+        SerializedProperty shear2Compliance;
+
+        SerializedProperty bendTwistConstraintsEnabled;
+        SerializedProperty torsionCompliance;
+        SerializedProperty bend1Compliance;
+        SerializedProperty bend2Compliance;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
+        SerializedProperty fixRoot;
+        SerializedProperty stretchBones;
+        SerializedProperty ignored;
+
+        public void OnEnable()
+        {
+            bone = (ObiBone)target;
+
+            fixRoot = serializedObject.FindProperty("fixRoot");
+            stretchBones = serializedObject.FindProperty("stretchBones");
+            ignored = serializedObject.FindProperty("ignored");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            mass = serializedObject.FindProperty("_mass");
+            rotationalMass = serializedObject.FindProperty("_rotationalMass");
+            radius = serializedObject.FindProperty("_radius");
+
+            skinConstraintsEnabled = serializedObject.FindProperty("_skinConstraintsEnabled");
+            skinRadius = serializedObject.FindProperty("_skinRadius");
+            skinCompliance = serializedObject.FindProperty("_skinCompliance");
+
+            stretchShearConstraintsEnabled = serializedObject.FindProperty("_stretchShearConstraintsEnabled");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            shear1Compliance = serializedObject.FindProperty("_shear1Compliance");
+            shear2Compliance = serializedObject.FindProperty("_shear2Compliance");
+
+            bendTwistConstraintsEnabled = serializedObject.FindProperty("_bendTwistConstraintsEnabled");
+            torsionCompliance = serializedObject.FindProperty("_torsionCompliance");
+            bend1Compliance = serializedObject.FindProperty("_bend1Compliance");
+            bend2Compliance = serializedObject.FindProperty("_bend2Compliance");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
+        }
+
+        public void OnDisable()
+        {
+            Tools.hidden = false;
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.LabelField("Bones", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(fixRoot);
+            EditorGUILayout.PropertyField(stretchBones);
+            EditorGUILayout.PropertyField(ignored);
+            EditorGUILayout.Space();
+
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUI.BeginChangeCheck();
+            var newCategory = EditorGUILayout.Popup("Collision category", ObiUtils.GetCategoryFromFilter(bone.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiBone t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision category");
+                    t.Filter = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(t.Filter), newCategory);
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            var newMask = EditorGUILayout.MaskField("Collides with", ObiUtils.GetMaskFromFilter(bone.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiBone t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision mask");
+                    t.Filter = ObiUtils.MakeFilter(newMask, ObiUtils.GetCategoryFromFilter(t.Filter));
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+            EditorGUILayout.Space();
+
+            ObiEditorUtils.DoPropertyGroup(new GUIContent("Particles"),
+            () => {
+                EditorGUILayout.PropertyField(mass);
+                EditorGUILayout.PropertyField(rotationalMass);
+                EditorGUILayout.PropertyField(radius);
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(skinConstraintsEnabled, new GUIContent("Skin Constraints", Resources.Load<Texture2D>("Icons/ObiSkinConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(skinRadius, new GUIContent("Skin radius"));
+                EditorGUILayout.PropertyField(skinCompliance, new GUIContent("Skin compliance"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(stretchShearConstraintsEnabled, new GUIContent("Stretch & Shear Constraints", Resources.Load<Texture2D>("Icons/ObiStretchShearConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(shear1Compliance, new GUIContent("Shear compliance X"));
+                EditorGUILayout.PropertyField(shear2Compliance, new GUIContent("Shear compliance Y"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendTwistConstraintsEnabled, new GUIContent("Bend & Twist Constraints", Resources.Load<Texture2D>("Icons/ObiBendTwistConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(torsionCompliance, new GUIContent("Torsion compliance"));
+                EditorGUILayout.PropertyField(bend1Compliance, new GUIContent("Bend compliance X"));
+                EditorGUILayout.PropertyField(bend2Compliance, new GUIContent("Bend compliance Y"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiBone actor, GizmoType gizmoType)
+        {
+            if (actor.boneBlueprint != null && actor.isLoaded)
+            {
+                var color = new Color(1, 1, 1, 0.5f);
+                var upColor = new Color(0, 1, 0, 1);
+
+                for (int i = 0; i < actor.boneBlueprint.parentIndices.Count; ++i)
+                {
+                    int parent = actor.boneBlueprint.parentIndices[i];
+                    if (parent >= 0)
+                    {
+                        var index = actor.solverIndices[parent];
+                        var nextIndex = actor.solverIndices[i];
+
+                        var pos = actor.GetParticlePosition(index);
+                        var npos = actor.GetParticlePosition(nextIndex);
+                        var or = actor.GetParticleOrientation(index);
+                        var nor = actor.GetParticleOrientation(nextIndex);
+                        var rad = actor.GetParticleMaxRadius(index);
+                        var nrad = actor.GetParticleMaxRadius(nextIndex);
+
+                        var up = pos + or * Vector3.up * rad;
+                        var down = pos + or * Vector3.down * rad;
+                        var left = pos + or * Vector3.left * rad;
+                        var right = pos + or * Vector3.right * rad;
+
+                        var nup = npos + nor * Vector3.up * nrad;
+                        var ndown = npos + nor * Vector3.down * nrad;
+                        var nleft = npos + nor * Vector3.left * nrad;
+                        var nright = npos + nor * Vector3.right * nrad;
+
+                        Handles.color = upColor;
+                        Handles.DrawLine(up, nup);
+
+                        Handles.color = color;
+                        Handles.DrawLine(down, ndown);
+                        Handles.DrawLine(left, nleft);
+                        Handles.DrawLine(right, nright);
+                        Handles.DrawWireDisc(npos, nor * Vector3.forward, nrad);
+                    }
+                }
+                if (actor.particleCount > 0)
+                {
+                    var index = actor.solverIndices[0];
+                    var pos = actor.GetParticlePosition(index);
+                    var or = actor.GetParticleOrientation(index);
+                    var rad = actor.GetParticleMaxRadius(index);
+
+                    Handles.DrawWireDisc(pos, or * Vector3.forward, rad);
+                }
+            }
+        }
+
+    }
+
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta
new file mode 100644
index 00000000..2f33c8d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1f25827f322514e1bb93fd309cd801bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs
new file mode 100644
index 00000000..1d41c3b9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs
@@ -0,0 +1,73 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi{
+public class ObiDraggableIcon {
+	
+	public static bool Draw(bool selected, int id, ref Vector2 position, Color color){
+
+		Texture texture = Resources.Load<Texture2D>("Dot");
+
+		int controlID = GUIUtility.GetControlID(id,FocusType.Passive);		
+
+		// select vertex on mouse click:
+		switch (Event.current.GetTypeForControl(controlID)){
+			
+		case EventType.MouseDown: 
+			
+			Rect area = new Rect (position.x-5, position.y-5, 10, 10);
+
+			if (area.Contains(Event.current.mousePosition))
+            {
+				selected = true;
+				GUIUtility.hotControl = controlID;
+				Event.current.Use();
+			}else if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Command) == 0){
+				
+				selected = false;
+
+			}
+			
+			break;
+			
+		case EventType.MouseDrag:
+			
+			if (GUIUtility.hotControl == controlID){
+				
+				position = Event.current.mousePosition;
+				GUI.changed = true;
+
+				Event.current.Use();
+
+			}
+			
+			break;
+			
+		case EventType.MouseUp:
+			
+			if (GUIUtility.hotControl == controlID){
+				
+				GUIUtility.hotControl = 0;
+				Event.current.Use();
+
+			}
+			
+			break;
+
+		case EventType.Repaint:
+
+                Color oldColor = GUI.color;
+                GUI.color = selected ? ObiEditorSettings.GetOrCreateSettings().selectedParticleColor : ObiEditorSettings.GetOrCreateSettings().particleColor;
+                Rect rect = new Rect (position.x-2, position.y-2, 4, 4);
+                GUI.Box(rect,EditorGUIUtility.whiteTexture);
+                GUI.color = oldColor;
+
+			break;
+			
+		}
+
+		return selected;	
+	}
+}
+}
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta
new file mode 100644
index 00000000..d2449d02
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c736a38cd50af4bccbd08b83993abbdb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
new file mode 100644
index 00000000..7056a44e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
@@ -0,0 +1,1241 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditor.EditorTools;
+using System;
+using UnityEditor.Overlays;
+using UnityEngine.UIElements;
+
+namespace Obi
+{
+    [EditorTool("Obi Path Editor Tool",typeof(ObiRopeBase))]
+    public class ObiPathEditor : EditorTool
+    {
+
+        [Overlay(typeof(SceneView), "Obi Path Editor", "Obi Path Editor", "Obi Path Editor", true)]
+        [Icon("Assets/Obi/Editor/Resources/EditCurves.psd")]
+        class PathEditorOverlay : Overlay, ITransientOverlay
+        {
+            public static ObiPathEditor editor;
+
+            public override VisualElement CreatePanelContent()
+            {
+                var root = new VisualElement();
+                root.Add(new IMGUIContainer(editor.DrawToolPanel));
+                return root;
+            }
+
+            // Use the visible property to hide or show this instance from within the class.
+            public bool visible
+            {
+                get
+                {
+                    return ToolManager.activeToolType == typeof(ObiPathEditor);
+                }
+            }
+        }
+
+        enum PathEditorTool
+        {
+            TranslatePoints,
+            RotatePoints,
+            ScalePoints,
+            OrientPoints,
+            InsertPoints,
+            RemovePoints
+        }
+
+        ObiPath path;
+
+        Quaternion prevRot = Quaternion.identity;
+        Vector3 prevScale = Vector3.one;
+
+        PathEditorTool currentTool = PathEditorTool.TranslatePoints;
+        bool showTangentHandles = true;
+        bool showThicknessHandles = true;
+
+        public bool needsRepaint = false;
+
+        protected bool[] selectedStatus;
+        protected int lastSelected = 0;
+        protected int selectedCount = 0;
+        protected Vector3 selectionAverage;
+        protected bool useOrientation = false;
+
+        protected static Color handleColor = new Color(1, 0.55f, 0.1f);
+        protected GUIContent m_IconContent;
+
+        public override GUIContent toolbarIcon
+        {
+            get
+            {
+                if (m_IconContent == null)
+                {
+                    m_IconContent = new GUIContent()
+                    {
+                        image = Resources.Load<Texture2D>("EditCurves"),
+                        text = "Obi Path Editor Tool",
+                        tooltip = "Obi Path Editor Tool"
+                    };
+                }
+                return m_IconContent;
+            }
+        }
+
+        ObiRopeBlueprintBase blueprint
+        {
+            get { return (target as ObiRopeBase).sharedBlueprint as ObiRopeBlueprintBase; }
+        }
+
+        public void OnEnable()
+        {
+            this.useOrientation = target is ObiRod;
+            selectedStatus = new bool[0];
+            PathEditorOverlay.editor = this;
+        }
+
+        public void ResizeCPArrays()
+        {
+            Array.Resize(ref selectedStatus, path.ControlPointCount);
+        }
+
+        public override void OnToolGUI(EditorWindow window)
+        {
+            needsRepaint = false;
+
+            float thicknessScale = blueprint.thickness;
+            this.path = (target as ObiRopeBase).path;
+            var matrix = (target as ObiRopeBase).transform.localToWorldMatrix;
+
+            ResizeCPArrays();
+
+            HandleUtility.AddDefaultControl(GUIUtility.GetControlID("PathEditor".GetHashCode(), FocusType.Passive));
+
+            Matrix4x4 prevMatrix = Handles.matrix;
+            Handles.matrix = matrix;
+
+            // Draw control points:
+            Handles.color = handleColor;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                needsRepaint |= DrawControlPoint(i);
+            }
+
+            // Count selected and calculate average position:
+            selectionAverage = GetControlPointAverage(out lastSelected, out selectedCount);
+
+            // Draw cp tool handles:
+            needsRepaint |= SplineCPTools(matrix);
+
+            if (showThicknessHandles)
+                needsRepaint |= DoThicknessHandles(thicknessScale);
+
+            // Control point selection handle:
+            needsRepaint |= ObiPathHandles.SplineCPSelector(path, selectedStatus);
+
+            Handles.matrix = prevMatrix;
+
+            // During edit mode, allow to add/remove control points.
+            if (currentTool == PathEditorTool.InsertPoints)
+                AddControlPointsMode(matrix);
+
+            if (currentTool == PathEditorTool.RemovePoints)
+                RemoveControlPointsMode(matrix);
+
+            if (needsRepaint)
+                window.Repaint();
+
+        }
+
+        private void AddControlPointsMode(Matrix4x4 matrix)
+        {
+
+            float mu = ScreenPointToCurveMu(path, Event.current.mousePosition, matrix);
+
+            Vector3 pointOnSpline = matrix.MultiplyPoint3x4(path.points.GetPositionAtMu(path.Closed, mu));
+
+            float size = HandleUtility.GetHandleSize(pointOnSpline) * 0.12f;
+
+            Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+            Handles.color = Color.green;
+            Handles.DrawDottedLine(pointOnSpline, ray.origin, 4);
+            Handles.SphereHandleCap(0, pointOnSpline, Quaternion.identity, size, Event.current.type);
+
+
+            if (Event.current.type == EventType.MouseDown && Event.current.modifiers == EventModifiers.None)
+            {
+                Undo.RecordObject(blueprint, "Add");
+
+                int newIndex = path.InsertControlPoint(mu);
+                if (newIndex >= 0)
+                {
+                    ResizeCPArrays();
+                    for (int i = 0; i < selectedStatus.Length; ++i)
+                        selectedStatus[i] = false;
+                    selectedStatus[newIndex] = true;
+                }
+
+                path.FlushEvents();
+                Event.current.Use();
+            }
+
+            // Repaint the scene, so that the add control point helpers are updated every frame.
+            SceneView.RepaintAll();
+
+        }
+
+        private void RemoveControlPointsMode(Matrix4x4 matrix)
+        {
+
+            float mu = ScreenPointToCurveMu(path, Event.current.mousePosition, matrix);
+
+            Vector3 pointOnSpline = matrix.MultiplyPoint3x4(path.points.GetPositionAtMu(path.Closed, mu));
+
+            float size = HandleUtility.GetHandleSize(pointOnSpline) * 0.12f;
+
+            Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+
+            Handles.color = Color.red;
+            Handles.DrawDottedLine(pointOnSpline, ray.origin, 4);
+
+            int index = path.GetClosestControlPointIndex(mu);
+            Handles.SphereHandleCap(0, matrix.MultiplyPoint3x4(path.points[index].position), Quaternion.identity, size, Event.current.type);
+
+            if (Event.current.type == EventType.MouseDown && Event.current.modifiers == EventModifiers.None && index >= 0 && path.ControlPointCount > 2)
+            {
+                Undo.RecordObject(blueprint, "Remove");
+
+                path.RemoveControlPoint(index);
+                ResizeCPArrays();
+                for (int i = 0; i < selectedStatus.Length; ++i)
+                    selectedStatus[i] = false;
+
+                path.FlushEvents();
+                Event.current.Use();
+            }
+
+            // Repaint the scene, so that the add control point helpers are updated every frame.
+            SceneView.RepaintAll();
+
+        }
+
+        protected bool DrawControlPoint(int i)
+        {
+            bool repaint = false;
+            var wp = path.points[i];
+            float size = HandleUtility.GetHandleSize(wp.position) * 0.04f;
+
+            if (selectedStatus[i] && showTangentHandles)
+            {
+
+                Handles.color = handleColor;
+
+                if (!(i == 0 && !path.Closed))
+                {
+                    Vector3 tangentPosition = wp.inTangentEndpoint;
+
+                    if (Event.current.type == EventType.Repaint)
+                        Handles.DrawDottedLine(tangentPosition, wp.position, 2);
+
+                    EditorGUI.BeginChangeCheck();
+                    Handles.DotHandleCap(0, tangentPosition, Quaternion.identity, size, Event.current.type);
+                    Vector3 newTangent = Handles.PositionHandle(tangentPosition, Quaternion.identity);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        Undo.RecordObject(blueprint, "Modify tangent");
+                        wp.SetInTangentEndpoint(newTangent);
+                        path.points[i] = wp;
+                        path.FlushEvents();
+                        repaint = true;
+                    }
+                }
+
+                if (!(i == path.ControlPointCount - 1 && !path.Closed))
+                {
+                    Vector3 tangentPosition = wp.outTangentEndpoint;
+
+                    if (Event.current.type == EventType.Repaint)
+                        Handles.DrawDottedLine(tangentPosition, wp.position, 2);
+
+                    EditorGUI.BeginChangeCheck();
+                    Handles.DotHandleCap(0, tangentPosition, Quaternion.identity, size, Event.current.type);
+                    Vector3 newTangent = Handles.PositionHandle(tangentPosition, Quaternion.identity);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        Undo.RecordObject(blueprint, "Modify tangent");
+                        wp.SetOutTangentEndpoint(newTangent);
+                        path.points[i] = wp;
+                        path.FlushEvents();
+                        repaint = true;
+                    }
+                }
+            }
+
+            if (Event.current.type == EventType.Repaint)
+            {
+
+                Handles.color = selectedStatus[i] ? handleColor : Color.white;
+                Vector3 pos = wp.position;
+
+                if (currentTool == PathEditorTool.OrientPoints)
+                {
+                    Handles.ArrowHandleCap(0, pos, Quaternion.LookRotation(path.normals[i]), HandleUtility.GetHandleSize(pos), EventType.Repaint);
+                }
+
+                Handles.SphereHandleCap(0, pos, Quaternion.identity, size * 3, EventType.Repaint);
+
+            }
+            return repaint;
+        }
+
+        protected Vector3 GetControlPointAverage(out int lastSelected, out int selectedCount)
+        {
+
+            lastSelected = -1;
+            selectedCount = 0;
+            Vector3 averagePos = Vector3.zero;
+
+            // Find center of all selected control points:
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+
+                    averagePos += path.points[i].position;
+                    selectedCount++;
+                    lastSelected = i;
+
+                }
+            }
+            if (selectedCount > 0)
+                averagePos /= selectedCount;
+            return averagePos;
+
+        }
+
+        protected bool SplineCPTools(Matrix4x4 matrix)
+        {
+            bool repaint = false;
+
+            // Calculate handle rotation, for local or world pivot modes.
+            Quaternion handleRotation = Tools.pivotRotation == PivotRotation.Local ? Quaternion.identity : Quaternion.Inverse(matrix.rotation);
+
+            // Reset initial handle rotation/orientation after using a tool:
+            if (GUIUtility.hotControl == 0)
+            {
+
+                prevRot = handleRotation;
+                prevScale = Vector3.one;
+
+                if (selectedCount == 1 && Tools.pivotRotation == PivotRotation.Local && currentTool == PathEditorTool.OrientPoints)
+                {
+                    //prevRot = Quaternion.LookRotation(GetNormal(lastSelected));
+                }
+            }
+
+            // Transform handles:
+            if (selectedCount > 0)
+            {
+
+                if (useOrientation && currentTool == PathEditorTool.OrientPoints)
+                {
+                    repaint |= OrientTool(selectionAverage, handleRotation);
+                }
+                else
+                {
+                    switch (currentTool)
+                    {
+                        case PathEditorTool.TranslatePoints:
+                            {
+                                repaint |= MoveTool(selectionAverage, handleRotation);
+                            }
+                            break;
+
+                        case PathEditorTool.ScalePoints:
+                            {
+                                repaint |= ScaleTool(selectionAverage, handleRotation);
+                            }
+                            break;
+
+                        case PathEditorTool.RotatePoints:
+                            {
+                                repaint |= RotateTool(selectionAverage, handleRotation);
+                            }
+                            break;
+                    }
+                }
+            }
+            return repaint;
+        }
+
+        protected bool MoveTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Vector3 newPos = Handles.PositionHandle(handlePosition, handleRotation);
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Move control point");
+
+                Vector3 delta = newPos - handlePosition;
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.Transform(delta, Quaternion.identity, Vector3.one);
+                        path.points[i] = wp;
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool ScaleTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Vector3 scale = Handles.ScaleHandle(prevScale, handlePosition, handleRotation, HandleUtility.GetHandleSize(handlePosition));
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Vector3 deltaScale = new Vector3(scale.x / prevScale.x, scale.y / prevScale.y, scale.z / prevScale.z);
+                prevScale = scale;
+
+                Undo.RecordObject(blueprint, "Scale control point");
+
+                if (Tools.pivotMode == PivotMode.Center && selectedCount > 1)
+                {
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            Vector3 newPos = handlePosition + Vector3.Scale(wp.position - handlePosition, deltaScale);
+                            wp.Transform(newPos - wp.position, Quaternion.identity, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+                else
+                {
+                    // Scale all handles of selected control points relative to their control point:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            wp.Transform(Vector3.zero, Quaternion.identity, deltaScale);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool RotateTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+
+            // TODO: investigate weird rotation gizmo:
+            Quaternion newRotation = Handles.RotationHandle(prevRot, handlePosition);
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Quaternion delta = newRotation * Quaternion.Inverse(prevRot);
+                prevRot = newRotation;
+
+                Undo.RecordObject(blueprint, "Rotate control point");
+
+                if (Tools.pivotMode == PivotMode.Center && selectedCount > 1)
+                {
+
+                    // Rotate all selected control points around their average:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            Vector3 newPos = handlePosition + delta * (wp.position - handlePosition);
+                            wp.Transform(newPos - wp.position, Quaternion.identity, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+
+                }
+                else
+                {
+
+                    // Rotate all handles of selected control points around their control point:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            wp.Transform(Vector3.zero, delta, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool OrientTool(Vector3 averagePos, Quaternion pivotRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Quaternion newRotation = Handles.RotationHandle(prevRot, averagePos);
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Quaternion delta = newRotation * Quaternion.Inverse(prevRot);
+                prevRot = newRotation;
+
+                Undo.RecordObject(blueprint, "Orient control point");
+
+                // Rotate all selected control points around their average:
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        path.normals[i] = delta * path.normals[i];
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+
+        protected bool DoThicknessHandles(float scale)
+        {
+            Color oldColor = Handles.color;
+            Handles.color = handleColor;
+
+            EditorGUI.BeginChangeCheck();
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    Vector3 position = path.points[i].position;
+
+                    var tangent = path.points.GetTangent(i);
+                    if (!tangent.Equals(Vector3.zero))
+                    {
+                        Quaternion orientation = Quaternion.LookRotation(tangent);
+
+                        float offset = 0.05f;
+                        float thickness = (path.thicknesses[i] * scale) + offset;
+
+                        EditorGUI.BeginChangeCheck();
+                        thickness = DoRadiusHandle(orientation, position, thickness);
+                        if (EditorGUI.EndChangeCheck())
+                        {
+                            Undo.RecordObject(blueprint, "Change control point thickness");
+                            path.thicknesses[i] = Mathf.Max(0, (thickness - offset) / scale);
+                            path.FlushEvents();
+                            return true;
+                        }
+                    }
+                }
+            }
+            Handles.color = oldColor;
+
+            return false;
+        }
+
+        public void DrawToolPanel()
+        {
+
+            DrawToolButtons();
+
+            DrawControlPointInspector();
+
+        }
+
+        private void DrawToolButtons()
+        {
+            GUILayout.BeginHorizontal();
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.TranslatePoints, new GUIContent(Resources.Load<Texture2D>("TranslateControlPoint"), "Translate CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.TranslatePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.RotatePoints, new GUIContent(Resources.Load<Texture2D>("RotateControlPoint"), "Rotate CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.RotatePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.ScalePoints, new GUIContent(Resources.Load<Texture2D>("ScaleControlPoint"), "Scale CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.ScalePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.InsertPoints, new GUIContent(Resources.Load<Texture2D>("AddControlPoint"), "Add CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.InsertPoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.RemovePoints, new GUIContent(Resources.Load<Texture2D>("RemoveControlPoint"), "Remove CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.RemovePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            bool closed = GUILayout.Toggle(path.Closed, new GUIContent(Resources.Load<Texture2D>("OpenCloseCurve"), "Open/Close the path"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Open/close path");
+                path.Closed = closed;
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            if (useOrientation)
+            {
+                EditorGUI.BeginChangeCheck();
+                GUILayout.Toggle(currentTool == PathEditorTool.OrientPoints, new GUIContent(Resources.Load<Texture2D>("OrientControlPoint"), "Orientation tool"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    currentTool = PathEditorTool.OrientPoints;
+                }
+            }
+
+            showTangentHandles = GUILayout.Toggle(showTangentHandles, new GUIContent(Resources.Load<Texture2D>("ShowTangentHandles"), "Show tangent handles"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            showThicknessHandles = GUILayout.Toggle(showThicknessHandles, new GUIContent(Resources.Load<Texture2D>("ShowThicknessHandles"), "Show thickness handles"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+
+            GUILayout.EndHorizontal();
+        }
+
+        private void DrawPositionField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].position[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos,path.points[i].position[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points position");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.position[index] = pos;
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawInTangentField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].inTangent[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos, path.points[i].inTangent[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points tangent");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        var newInTangent = wp.inTangent;
+                        newInTangent[index] = pos;
+                        wp.SetInTangent(newInTangent);
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawOutTangentField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].outTangent[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos, path.points[i].outTangent[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points tangent");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        var newOutTangent = wp.outTangent;
+                        newOutTangent[index] = pos;
+                        wp.SetOutTangent(newOutTangent);
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawControlPointInspector()
+        {
+
+            GUI.enabled = selectedCount > 0;
+
+            bool wideMode = EditorGUIUtility.wideMode;
+            EditorGUIUtility.wideMode = true;
+            EditorGUIUtility.labelWidth = 100;
+
+            EditorGUILayout.BeginVertical();
+
+            GUILayout.Box("", ObiEditorUtils.GetSeparatorLineStyle());
+
+            // position:
+            var rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("Position"));
+            rect.width /= 3.0f;
+            DrawPositionField(rect,"X",0); rect.x += rect.width;
+            DrawPositionField(rect,"Y",1); rect.x += rect.width;
+            DrawPositionField(rect,"Z",2); rect.x += rect.width;
+
+            // in tangent:
+            rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("In Tangent"));
+            rect.width /= 3.0f;
+            DrawInTangentField(rect, "X", 0); rect.x += rect.width;
+            DrawInTangentField(rect, "Y", 1); rect.x += rect.width;
+            DrawInTangentField(rect, "Z", 2); rect.x += rect.width;
+
+            // out tangent:
+            rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("Out Tangent"));
+            rect.width /= 3.0f;
+            DrawOutTangentField(rect, "X", 0); rect.x += rect.width;
+            DrawOutTangentField(rect, "Y", 1); rect.x += rect.width;
+            DrawOutTangentField(rect, "Z", 2); rect.x += rect.width;
+
+            // tangent mode:
+            EditorGUI.showMixedValue = false;
+            var mode = ObiWingedPoint.TangentMode.Free;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mode = path.points[i].tangentMode;
+                        firstSelected = false;
+                    }
+                    else if (mode != path.points[i].tangentMode)
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            var newMode = (ObiWingedPoint.TangentMode)EditorGUILayout.EnumPopup("Tangent mode", mode, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points mode");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.tangentMode = newMode;
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // thickness:
+            EditorGUI.showMixedValue = false;
+            float thickness = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        thickness = path.thicknesses[i];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(thickness, path.thicknesses[i]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            thickness = EditorGUILayout.FloatField("Thickness", thickness, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point thickness");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.thicknesses[i] = Mathf.Max(0, thickness);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // mass:
+            EditorGUI.showMixedValue = false;
+            float mass = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mass = path.masses[i];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(mass, path.masses[i]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            mass = EditorGUILayout.FloatField("Mass", mass, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point mass");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.masses[i] = mass;
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            if (useOrientation)
+            {
+                // rotational mass:
+                EditorGUI.showMixedValue = false;
+                float rotationalMass = 0;
+                firstSelected = true;
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        if (firstSelected)
+                        {
+                            rotationalMass = path.rotationalMasses[i];
+                            firstSelected = false;
+                        }
+                        else if (!Mathf.Approximately(rotationalMass, path.rotationalMasses[i]))
+                        {
+                            EditorGUI.showMixedValue = true;
+                            break;
+                        }
+                    }
+                }
+
+                EditorGUI.BeginChangeCheck();
+                rotationalMass = EditorGUILayout.FloatField("Rotational mass", rotationalMass, GUILayout.MinWidth(94));
+                EditorGUI.showMixedValue = false;
+                if (EditorGUI.EndChangeCheck())
+                {
+
+                    Undo.RecordObject(blueprint, "Change control point rotational mass");
+
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                            path.rotationalMasses[i] = rotationalMass;
+                    }
+                    path.FlushEvents();
+                    needsRepaint = true;
+                }
+            }
+
+            // category:
+            EditorGUI.showMixedValue = false;
+            int category = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        category = ObiUtils.GetCategoryFromFilter(path.filters[i]);
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(category, ObiUtils.GetCategoryFromFilter(path.filters[i])))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            category = EditorGUILayout.Popup("Category", category, ObiUtils.categoryNames, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Change control point category");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.filters[i] = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(path.filters[i]),category);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // mask:
+            EditorGUI.showMixedValue = false;
+            int mask = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mask = ObiUtils.GetMaskFromFilter(path.filters[i]);
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(mask, ObiUtils.GetMaskFromFilter(path.filters[i])))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            mask = EditorGUILayout.MaskField("Collides with", mask, ObiUtils.categoryNames, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Change control point mask");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.filters[i] = ObiUtils.MakeFilter(mask,ObiUtils.GetCategoryFromFilter(path.filters[i]));
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // color:
+            EditorGUI.showMixedValue = false;
+            Color color = Color.white;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        color = path.colors[i];
+                        firstSelected = false;
+                    }
+                    else if (color != path.colors[i])
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            color = EditorGUILayout.ColorField(new GUIContent("Color"), color, true, true, true, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point color");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.colors[i] = color;
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // name:
+            EditorGUI.showMixedValue = false;
+            string cpname = "";
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        cpname = path.GetName(i);
+                        firstSelected = false;
+                    }
+                    else if (cpname != path.GetName(i))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            cpname = EditorGUILayout.DelayedTextField("Name", cpname, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point name");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.SetName(i, cpname);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUIUtility.wideMode = wideMode;
+
+            GUI.enabled = true;
+        }
+
+        internal static float DoRadiusHandle(Quaternion rotation, Vector3 position, float radius)
+        {
+            Vector3[] vector3Array;
+
+            Vector3 camToPosition;
+            if (Camera.current.orthographic)
+            {
+                camToPosition = Camera.current.transform.forward;
+                Handles.DrawWireDisc(position, camToPosition, radius);
+
+                vector3Array = new Vector3[4]
+                {
+                    Camera.current.transform.right,
+                    Camera.current.transform.up,
+                    -Camera.current.transform.right,
+                    -Camera.current.transform.up,
+                };
+
+            }
+            else
+            {
+                camToPosition = position - Camera.current.transform.position;
+                Handles.DrawWireDisc(position, rotation * Vector3.forward, radius);
+
+                vector3Array = new Vector3[4]
+                {
+                    rotation * Vector3.right,
+                    rotation * Vector3.up,
+                    rotation * -Vector3.right,
+                    rotation * -Vector3.up,
+                };
+            }
+
+            for (int index = 0; index < 4; ++index)
+            {
+                int controlId = GUIUtility.GetControlID("ObiPathThicknessHandle".GetHashCode(), FocusType.Passive);
+                Vector3 position1 = position + radius * vector3Array[index];
+                bool changed = GUI.changed;
+                GUI.changed = false;
+                Vector3 a = Handles.Slider(controlId, position1, vector3Array[index], HandleUtility.GetHandleSize(position1) * 0.03f, Handles.DotHandleCap, 0.0f);
+                if (GUI.changed)
+                    radius = Vector3.Distance(a, position);
+                GUI.changed |= changed;
+            }
+
+            return radius;
+        }
+
+        public static float ScreenPointToCurveMu(ObiPath path, Vector2 screenPoint, Matrix4x4 referenceFrame, int samples = 30)
+        {
+
+            if (path.ControlPointCount >= 2)
+            {
+
+                samples = Mathf.Max(1, samples);
+                float step = 1 / (float)samples;
+
+                float closestMu = 0;
+                float minDistance = float.MaxValue;
+
+                for (int k = 0; k < path.GetSpanCount(); ++k)
+                {
+                    int nextCP = (k + 1) % path.ControlPointCount;
+
+                    var wp1 = path.points[k];
+                    var wp2 = path.points[nextCP];
+
+                    Vector3 _p = referenceFrame.MultiplyPoint3x4(wp1.position);
+                    Vector3 p = referenceFrame.MultiplyPoint3x4(wp1.outTangentEndpoint);
+                    Vector3 p_ = referenceFrame.MultiplyPoint3x4(wp2.inTangentEndpoint);
+                    Vector3 p__ = referenceFrame.MultiplyPoint3x4(wp2.position);
+
+                    Vector2 lastPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, 0));
+                    for (int i = 1; i <= samples; ++i)
+                    {
+
+                        Vector2 currentPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, i * step));
+
+                        float mu;
+                        float distance = Vector2.SqrMagnitude((Vector2)ObiUtils.ProjectPointLine(lastPoint, currentPoint, screenPoint, out mu) - screenPoint);
+
+                        if (distance < minDistance)
+                        {
+                            minDistance = distance;
+                            closestMu = (k + (i - 1) * step + mu / samples) / (float)path.GetSpanCount();
+                        }
+                        lastPoint = currentPoint;
+                    }
+
+                }
+
+                return closestMu;
+
+            }
+            else
+            {
+                Debug.LogWarning("Curve needs at least 2 control points to be defined.");
+            }
+            return 0;
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta
new file mode 100644
index 00000000..32c490bc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0cb694bcadb6a4909b593111507e1eb3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
new file mode 100644
index 00000000..2a0bc1b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
@@ -0,0 +1,271 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiPathHandles
+    {
+
+        static int splineSelectorHash = "ObiPathSelectorHash".GetHashCode();
+        const int minSelectionDistance = 5;
+
+        static Vector2 startPos;
+        static Vector2 currentPos;
+        static bool dragging = false;
+        static Rect marquee;
+
+        public static bool SplineCPSelector(ObiPath path, bool[] selectionStatus)
+        {
+
+            int controlID = GUIUtility.GetControlID(splineSelectorHash, FocusType.Passive);
+            int selectedCPIndex = -1;
+            bool selectionStatusChanged = false;
+
+            // select vertex on mouse click:
+            switch (Event.current.GetTypeForControl(controlID))
+            {
+                case EventType.Layout:
+                case EventType.MouseMove:
+                    
+                        float minSqrDistance = System.Single.MaxValue;
+                        float sqrMinSelectionDistance = minSelectionDistance * minSelectionDistance;
+
+                        for (int i = 0; i < path.ControlPointCount; i++)
+                        {
+
+                            // get particle position in gui space:
+                            Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
+
+                            // get distance from mouse position to particle position:
+                            float sqrDistance = Vector2.SqrMagnitude(Event.current.mousePosition - pos);
+
+                            // check if this control point is closer to the cursor that any previously considered point.
+                            if (sqrDistance < sqrMinSelectionDistance && sqrDistance < minSqrDistance)
+                            { 
+                                minSqrDistance = sqrDistance;
+                            }
+
+                        }
+                        HandleUtility.AddControl(controlID, Mathf.Sqrt(minSqrDistance));
+                    
+                    break;
+
+                case EventType.MouseDown:
+                    
+                        marquee.Set(0, 0, 0, 0);
+                        startPos = Event.current.mousePosition;
+
+                        if (Event.current.button == 0)
+                        {
+
+                            if (HandleUtility.nearestControl == controlID)
+                            {
+                                GUIUtility.hotControl = controlID;
+
+                                // If the user is pressing shift or ctrl, accumulate selection.
+                                if ((Event.current.modifiers & (EventModifiers.Shift | EventModifiers.Control)) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                                {
+                                    for (int i = 0; i < selectionStatus.Length; i++)
+                                        selectionStatus[i] = false;
+
+                                    selectionStatusChanged = true;
+                                }
+
+                                minSqrDistance = System.Single.MaxValue;
+                                sqrMinSelectionDistance = minSelectionDistance * minSelectionDistance;
+
+                                for (int i = 0; i < path.ControlPointCount; i++)
+                                {
+
+                                    // get particle position in gui space:
+                                    Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
+
+                                    // get distance from mouse position to particle position:
+                                    float sqrDistance = Vector2.SqrMagnitude(startPos - pos);
+
+                                    // check if this control point is closer to the cursor that any previously considered point.
+                                    if (sqrDistance < sqrMinSelectionDistance && sqrDistance < minSqrDistance)
+                                    {
+                                        minSqrDistance = sqrDistance;
+                                        selectedCPIndex = i;
+                                    }
+
+                                }
+
+                                if (selectedCPIndex >= 0)
+                                { // toggle particle selection status.
+
+                                    selectionStatus[selectedCPIndex] = !selectionStatus[selectedCPIndex];
+                                    selectionStatusChanged = true;
+
+                                    // Prevent spline deselection if we have selected a particle:
+                                    Event.current.Use();
+
+                                }
+                            }
+                            else if ((Event.current.modifiers & (EventModifiers.Shift | EventModifiers.Control)) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                            {
+                                for (int i = 0; i < selectionStatus.Length; i++)
+                                    selectionStatus[i] = false;
+
+                                selectionStatusChanged = true;
+                            }
+                        }
+                    
+                    break;
+
+                case EventType.MouseDrag:
+
+                    if (Event.current.button == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                    {
+                        currentPos = Event.current.mousePosition;
+                        if (!dragging && Vector2.Distance(startPos, currentPos) > 5)
+                        {
+                            dragging = true;
+                        }
+
+                        if (dragging)
+                        {
+                            GUIUtility.hotControl = controlID;
+                            Event.current.Use();
+                        }
+
+                        //update marquee rect:
+                        float left = Mathf.Min(startPos.x, currentPos.x);
+                        float right = Mathf.Max(startPos.x, currentPos.x);
+                        float bottom = Mathf.Min(startPos.y, currentPos.y);
+                        float top = Mathf.Max(startPos.y, currentPos.y);
+
+                        marquee = new Rect(left, bottom, right - left, top - bottom);
+
+                    }
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        dragging = false;
+
+                        for (int i = 0; i < path.ControlPointCount; i++)
+                        {
+
+                            // get particle position in gui space:
+                            Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
+
+                            if (pos.x > marquee.xMin && pos.x < marquee.xMax && pos.y > marquee.yMin && pos.y < marquee.yMax)
+                            {
+                                selectionStatus[i] = true;
+                                selectionStatusChanged = true;
+                            }
+
+                        }
+
+                        GUIUtility.hotControl = 0;
+                        Event.current.Use();
+                    }
+
+                    break;
+
+                case EventType.Repaint:
+
+                    if (dragging)
+                    {
+                        GUISkin oldSkin = GUI.skin;
+                        GUI.skin = EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene);
+                        Handles.BeginGUI();
+                        GUI.Box(new Rect(marquee.xMin, marquee.yMin, marquee.width, marquee.height), "");
+                        Handles.EndGUI();
+                        GUI.skin = oldSkin;
+                    }
+
+                    break;
+
+            }
+
+            return selectionStatusChanged;
+        }
+
+        private static void DrawControlPointArcs(ObiPath path, float thicknessScale)
+        {
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                Vector3 position = path.points[i].position;
+                Vector3 tangent = path.points.GetTangent(i);
+                Vector3 right = Vector3.Cross(tangent, path.normals[i]).normalized;
+                float thickness = path.thicknesses[i] * thicknessScale + 0.05f;
+
+                Handles.DrawWireArc(position, tangent, right, -180, thickness);
+            }
+        }
+
+        private static void DrawPathPolylines(Vector3[] samples, Vector3[] leftSamples, Vector3[] rightSamples, Vector3[] upSamples, bool drawOrientation)
+        {
+            Handles.DrawPolyLine(samples);
+            if (drawOrientation)
+            {
+                Handles.DrawPolyLine(leftSamples);
+                Handles.DrawPolyLine(upSamples);
+                Handles.DrawPolyLine(rightSamples);
+            }
+        }
+
+        public static void DrawPathHandle(ObiPath path, Matrix4x4 referenceFrame, float thicknessScale, int resolution, bool drawOrientation = true)
+        {
+
+            if (path == null || path.GetSpanCount() == 0) return;
+
+            Matrix4x4 prevMatrix = Handles.matrix;
+            Handles.matrix = referenceFrame;
+
+            // Draw the curve:
+            int curveSegments = path.GetSpanCount() * resolution;
+            Vector3[] samples = new Vector3[curveSegments + 1];
+            Vector3[] leftSamples = new Vector3[curveSegments + 1];
+            Vector3[] rightSamples = new Vector3[curveSegments + 1];
+            Vector3[] upSamples = new Vector3[curveSegments + 1];
+
+            for (int i = 0; i <= curveSegments; ++i)
+            {
+
+                float mu = i / (float)curveSegments;
+                samples[i] = path.points.GetPositionAtMu(path.Closed,mu);
+
+                if (drawOrientation)
+                {
+                    Vector3 tangent = path.points.GetTangentAtMu(path.Closed,mu);
+                    Vector3 right = Vector3.Cross(tangent, path.normals.GetAtMu(path.Closed,mu)).normalized;
+                    Vector3 up = Vector3.Cross(right, tangent).normalized;
+                    float thickness = path.thicknesses.GetAtMu(path.Closed,mu) * thicknessScale + 0.05f;
+
+                    leftSamples[i] = samples[i] - right * thickness;
+                    rightSamples[i] = samples[i] + right * thickness;
+                    upSamples[i] = samples[i] + up * thickness;
+
+                    if (i % 5 == 0)
+                    {
+                        Handles.DrawLine(leftSamples[i], rightSamples[i]);
+                        Handles.DrawLine(samples[i], samples[i] + up * thickness);
+                    }
+                }
+            }
+
+            if (drawOrientation)
+                DrawControlPointArcs(path, thicknessScale);
+
+            DrawPathPolylines(samples, leftSamples, rightSamples, upSamples, drawOrientation);
+            DrawPathPolylines(samples, leftSamples, rightSamples, upSamples, drawOrientation);
+
+            Handles.matrix = prevMatrix;
+        }
+
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta
new file mode 100644
index 00000000..8df16e49
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f3c12ceb831344c47af02f0d6bf73de7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs
new file mode 100644
index 00000000..068bc64a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs
@@ -0,0 +1,37 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiPathSmoother), true), CanEditMultipleObjects]
+    public class ObiPathSmootherEditor : Editor
+    {
+
+        ObiPathSmoother shape;
+
+        public void OnEnable()
+        {
+            shape = (ObiPathSmoother)target;
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+    }
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta
new file mode 100644
index 00000000..4b3fca50
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a01b6dc95e7284e2583513863858d670
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
new file mode 100644
index 00000000..f8e0ad88
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
@@ -0,0 +1,216 @@
+using UnityEditor;
+using UnityEditor.EditorTools;
+using UnityEditorInternal;
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRod))]
+    public class ObiRodEditor : Editor
+    {
+        [MenuItem("GameObject/3D Object/Obi/Obi Rod", false, 301)]
+        static void CreateObiRod(MenuCommand menuCommand)
+        {
+            GameObject go = new GameObject("Obi Rod", typeof(ObiRod), typeof(ObiRopeExtrudedRenderer));
+            var renderer = go.GetComponent<ObiRopeExtrudedRenderer>();
+            renderer.material = ObiEditorUtils.GetDefaultMaterial();
+            ObiEditorUtils.PlaceActorRoot(go, menuCommand);
+        }
+
+        ObiRod actor;
+
+        SerializedProperty rodBlueprint;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions; 
+
+        SerializedProperty stretchShearConstraintsEnabled;
+        SerializedProperty stretchCompliance;
+        SerializedProperty shear1Compliance;
+        SerializedProperty shear2Compliance;
+
+        SerializedProperty bendTwistConstraintsEnabled;
+        SerializedProperty torsionCompliance;
+        SerializedProperty bend1Compliance;
+        SerializedProperty bend2Compliance;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
+        SerializedProperty chainConstraintsEnabled;
+        SerializedProperty tightness;
+
+        GUIStyle editLabelStyle;
+
+        public void OnEnable()
+        {
+            actor = (ObiRod)target;
+
+            rodBlueprint = serializedObject.FindProperty("m_RodBlueprint");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            stretchShearConstraintsEnabled = serializedObject.FindProperty("_stretchShearConstraintsEnabled");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            shear1Compliance = serializedObject.FindProperty("_shear1Compliance");
+            shear2Compliance = serializedObject.FindProperty("_shear2Compliance");
+
+            bendTwistConstraintsEnabled = serializedObject.FindProperty("_bendTwistConstraintsEnabled");
+            torsionCompliance = serializedObject.FindProperty("_torsionCompliance");
+            bend1Compliance = serializedObject.FindProperty("_bend1Compliance");
+            bend2Compliance = serializedObject.FindProperty("_bend2Compliance");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
+
+            chainConstraintsEnabled = serializedObject.FindProperty("_chainConstraintsEnabled");
+            tightness = serializedObject.FindProperty("_tightness");
+        }
+
+        private void DoEditButton()
+        {
+            using (new EditorGUI.DisabledScope(actor.rodBlueprint == null))
+            {
+                EditorGUILayout.BeginHorizontal();
+                GUILayout.Space(EditorGUIUtility.labelWidth);
+                EditorGUI.BeginChangeCheck();
+                bool edit = GUILayout.Toggle(ToolManager.activeToolType == typeof(ObiPathEditor), new GUIContent(Resources.Load<Texture2D>("EditCurves")), "Button", GUILayout.MaxWidth(36), GUILayout.MaxHeight(24));
+                EditorGUILayout.LabelField("Edit path", editLabelStyle, GUILayout.ExpandHeight(true), GUILayout.MaxHeight(24));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    if (edit)
+                        ToolManager.SetActiveTool<ObiPathEditor>();
+                    else
+                        ToolManager.RestorePreviousPersistentTool();
+
+                    SceneView.RepaintAll();
+                }
+                EditorGUILayout.EndHorizontal();
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            if (editLabelStyle == null)
+            {
+                editLabelStyle = new GUIStyle(GUI.skin.label);
+                editLabelStyle.alignment = TextAnchor.MiddleLeft;
+            }
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            if (actor.rodBlueprint != null && actor.rodBlueprint.path.ControlPointCount < 2)
+            {
+                actor.rodBlueprint.GenerateImmediate();
+            }
+
+            using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
+            {
+                GUILayout.BeginHorizontal();
+
+                EditorGUI.BeginChangeCheck();
+
+                EditorGUILayout.PropertyField(rodBlueprint, new GUIContent("Blueprint"));
+
+                if (actor.rodBlueprint == null)
+                {
+                    if (GUILayout.Button("Create", EditorStyles.miniButton, GUILayout.MaxWidth(80)))
+                    {
+                        string path = EditorUtility.SaveFilePanel("Save blueprint", "Assets/", "RodBlueprint", "asset");
+                        if (!string.IsNullOrEmpty(path))
+                        {
+                            path = FileUtil.GetProjectRelativePath(path);
+                            ObiRodBlueprint asset = ScriptableObject.CreateInstance<ObiRodBlueprint>();
+
+                            AssetDatabase.CreateAsset(asset, path);
+                            AssetDatabase.SaveAssets();
+
+                            actor.rodBlueprint = asset;
+                        }
+                    }
+                }
+
+                if (EditorGUI.EndChangeCheck())
+                {
+                    foreach (var t in targets)
+                    {
+                        (t as ObiRod).RemoveFromSolver();
+                        (t as ObiRod).ClearState();
+                    }
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiRod).AddToSolver();
+                }
+
+                GUILayout.EndHorizontal();
+            }
+
+            DoEditButton();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+
+            EditorGUILayout.Space();
+            ObiEditorUtils.DoToggleablePropertyGroup(stretchShearConstraintsEnabled, new GUIContent("Stretch & Shear Constraints", Resources.Load<Texture2D>("Icons/ObiStretchShearConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(shear1Compliance, new GUIContent("Shear compliance X"));
+                EditorGUILayout.PropertyField(shear2Compliance, new GUIContent("Shear compliance Y"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendTwistConstraintsEnabled, new GUIContent("Bend & Twist Constraints", Resources.Load<Texture2D>("Icons/ObiBendTwistConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(torsionCompliance, new GUIContent("Torsion compliance"));
+                EditorGUILayout.PropertyField(bend1Compliance, new GUIContent("Bend compliance X"));
+                EditorGUILayout.PropertyField(bend2Compliance, new GUIContent("Bend compliance Y"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(chainConstraintsEnabled, new GUIContent("Chain Constraints", Resources.Load<Texture2D>("Icons/ObiChainConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(tightness, new GUIContent("Tightness"));
+            });
+
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRod actor, GizmoType gizmoType)
+        {
+            Handles.color = Color.white;
+            if (actor.rodBlueprint != null)
+                ObiPathHandles.DrawPathHandle(actor.rodBlueprint.path, actor.transform.localToWorldMatrix, actor.rodBlueprint.thickness ,20);
+        }
+
+    }
+
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta
new file mode 100644
index 00000000..43404e2f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d55c0f03ad50c414cacd39520aef2087
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
new file mode 100644
index 00000000..76570ef5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
@@ -0,0 +1,54 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeChainRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeChainRendererEditor : Editor
+	{
+		
+		ObiRopeChainRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeChainRenderer)target;
+		}
+
+        [MenuItem("CONTEXT/ObiRopeChainRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
+        {
+            ObiRopeChainRenderer renderer = (ObiRopeChainRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
+            {
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeChainRenderer>() as ObiChainRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save chain mesh", "chain mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
+            }
+        }
+
+        public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta
new file mode 100644
index 00000000..f9953042
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 0efaf4d397fcc4b87842866f9a69f07b
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
new file mode 100644
index 00000000..18d81009
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
@@ -0,0 +1,98 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRopeCursor)), CanEditMultipleObjects]
+    public class ObiRopeCursorEditor : Editor
+    {
+        SerializedProperty cursorMu;
+        SerializedProperty sourceMu;
+        SerializedProperty direction;
+
+        public void OnEnable()
+        {
+            cursorMu = serializedObject.FindProperty("m_CursorMu");
+            sourceMu = serializedObject.FindProperty("m_SourceMu");
+            direction = serializedObject.FindProperty("direction"); 
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(cursorMu);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (var t in targets)
+                    (t as ObiRopeCursor).UpdateCursor();
+            }
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(sourceMu);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (var t in targets)
+                    (t as ObiRopeCursor).UpdateSource();
+            }
+
+            EditorGUILayout.PropertyField(direction);
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        private static void DrawArrow()
+        {
+            Gizmos.DrawLine(Vector3.left, Vector3.up);
+            Gizmos.DrawLine(Vector3.right, Vector3.up);
+            Gizmos.DrawLine(Vector3.left, Vector3.down);
+            Gizmos.DrawLine(Vector3.right, Vector3.down);
+            Gizmos.DrawLine(Vector3.left, Vector3.forward);
+            Gizmos.DrawLine(Vector3.right, Vector3.forward);
+            Gizmos.DrawLine(Vector3.up, Vector3.forward);
+            Gizmos.DrawLine(Vector3.down, Vector3.forward);
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRopeCursor cursor, GizmoType gizmoType)
+        {
+            var rope = cursor.GetComponent<ObiRope>();
+            if (rope.solver != null)
+            {
+                Gizmos.color = new Color(1, 0.5f, 0, 0.75f);
+
+                // draw source particle:
+                int sourceIndex = cursor.sourceParticleIndex;
+
+                if (sourceIndex >= 0 && rope.IsParticleActive(rope.solver.particleToActor[sourceIndex].indexInActor))
+                {
+                    Vector3 pos = rope.GetParticlePosition(sourceIndex);
+                    Gizmos.DrawWireSphere(pos, HandleUtility.GetHandleSize(pos) * 0.4f);
+                }
+
+                // draw cursor:
+                var element = cursor.cursorElement;
+
+                if (element != null && element.particle1 != element.particle2)
+                {
+                    Vector3 pos = rope.GetParticlePosition(cursor.direction ? element.particle1 : element.particle2);
+                    Vector3 pos2 = rope.GetParticlePosition(cursor.direction ? element.particle2 : element.particle1);
+                    Vector3 direction = pos2 - pos;
+
+                    float size = HandleUtility.GetHandleSize(pos) * 0.4f;
+                    Gizmos.matrix = Matrix4x4.TRS(pos, Quaternion.LookRotation(direction), Vector3.one * size);
+                    DrawArrow();
+                }
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta
new file mode 100644
index 00000000..f740a0b2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e3ec1bf77ba7a47b596abdc62069c72b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
new file mode 100644
index 00000000..9fe40c8f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
@@ -0,0 +1,213 @@
+using UnityEditor;
+using UnityEditor.EditorTools;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRope))]
+    public class ObiRopeEditor : Editor
+    {
+
+        [MenuItem("GameObject/3D Object/Obi/Obi Rope", false, 300)]
+        static void CreateObiRope(MenuCommand menuCommand)
+        {
+            GameObject go = new GameObject("Obi Rope", typeof(ObiRope), typeof(ObiRopeExtrudedRenderer));
+            var renderer = go.GetComponent<ObiRopeExtrudedRenderer>();
+            renderer.material = ObiEditorUtils.GetDefaultMaterial();
+            ObiEditorUtils.PlaceActorRoot(go, menuCommand);
+        }
+
+        ObiRope actor;
+
+        SerializedProperty ropeBlueprint;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions;
+
+        SerializedProperty distanceConstraintsEnabled;
+        SerializedProperty stretchingScale;
+        SerializedProperty stretchCompliance;
+        SerializedProperty maxCompression;
+
+        SerializedProperty bendConstraintsEnabled;
+        SerializedProperty bendCompliance;
+        SerializedProperty maxBending;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
+        SerializedProperty tearingEnabled;
+        SerializedProperty tearResistanceMultiplier;
+        SerializedProperty tearRate;
+
+        GUIStyle editLabelStyle;
+
+        public void OnEnable()
+        {
+            actor = (ObiRope)target;
+
+            ropeBlueprint = serializedObject.FindProperty("m_RopeBlueprint");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            distanceConstraintsEnabled = serializedObject.FindProperty("_distanceConstraintsEnabled");
+            stretchingScale = serializedObject.FindProperty("_stretchingScale");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            maxCompression = serializedObject.FindProperty("_maxCompression");
+
+            bendConstraintsEnabled = serializedObject.FindProperty("_bendConstraintsEnabled");
+            bendCompliance = serializedObject.FindProperty("_bendCompliance");
+            maxBending = serializedObject.FindProperty("_maxBending");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
+
+            tearingEnabled = serializedObject.FindProperty("tearingEnabled");
+            tearResistanceMultiplier = serializedObject.FindProperty("tearResistanceMultiplier");
+            tearRate = serializedObject.FindProperty("tearRate");
+
+        }
+
+        private void DoEditButton()
+        {
+            using (new EditorGUI.DisabledScope(actor.ropeBlueprint == null))
+            {
+                EditorGUILayout.BeginHorizontal();
+                GUILayout.Space(EditorGUIUtility.labelWidth);
+                EditorGUI.BeginChangeCheck();
+                bool edit = GUILayout.Toggle(ToolManager.activeToolType == typeof(ObiPathEditor), new GUIContent(Resources.Load<Texture2D>("EditCurves")), "Button", GUILayout.MaxWidth(36), GUILayout.MaxHeight(24));
+                EditorGUILayout.LabelField("Edit path", editLabelStyle, GUILayout.ExpandHeight(true), GUILayout.MaxHeight(24));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    if (edit)
+                        ToolManager.SetActiveTool<ObiPathEditor>();
+                    else
+                        ToolManager.RestorePreviousPersistentTool();
+
+                    SceneView.RepaintAll();
+                }
+                EditorGUILayout.EndHorizontal();
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            if (editLabelStyle == null)
+            {
+                editLabelStyle = new GUIStyle(GUI.skin.label);
+                editLabelStyle.alignment = TextAnchor.MiddleLeft;
+            }
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            if (actor.sourceBlueprint != null && actor.ropeBlueprint.path.ControlPointCount < 2)
+            {
+                actor.ropeBlueprint.GenerateImmediate();
+            }
+
+            using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
+            {
+                GUILayout.BeginHorizontal();
+                EditorGUI.BeginChangeCheck();
+
+                EditorGUILayout.PropertyField(ropeBlueprint, new GUIContent("Blueprint"));
+
+                if (actor.ropeBlueprint == null)
+                {
+                    if (GUILayout.Button("Create", EditorStyles.miniButton, GUILayout.MaxWidth(80)))
+                    {
+                        string path = EditorUtility.SaveFilePanel("Save blueprint", "Assets/", "RopeBlueprint", "asset");
+                        if (!string.IsNullOrEmpty(path))
+                        {
+                            path = FileUtil.GetProjectRelativePath(path);
+                            ObiRopeBlueprint asset = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+
+                            AssetDatabase.CreateAsset(asset, path);
+                            AssetDatabase.SaveAssets();
+
+                            actor.ropeBlueprint = asset;
+                        }
+                    }
+                }
+
+                if (EditorGUI.EndChangeCheck())
+                {
+                    foreach (var t in targets)
+                    {
+                        (t as ObiRope).RemoveFromSolver();
+                        (t as ObiRope).ClearState();
+                    }
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiRope).AddToSolver();
+                }
+
+                GUILayout.EndHorizontal();
+            }
+
+            DoEditButton();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+
+            EditorGUILayout.Space();
+            ObiEditorUtils.DoToggleablePropertyGroup(tearingEnabled, new GUIContent("Tearing"),
+            () =>
+            {
+                EditorGUILayout.PropertyField(tearResistanceMultiplier, new GUIContent("Tear resistance"));
+                EditorGUILayout.PropertyField(tearRate, new GUIContent("Tear rate"));
+            });
+            ObiEditorUtils.DoToggleablePropertyGroup(distanceConstraintsEnabled, new GUIContent("Distance Constraints", Resources.Load<Texture2D>("Icons/ObiDistanceConstraints Icon")),
+            () =>
+            {
+                EditorGUILayout.PropertyField(stretchingScale, new GUIContent("Stretching scale"));
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(maxCompression, new GUIContent("Max compression"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendConstraintsEnabled, new GUIContent("Bend Constraints", Resources.Load<Texture2D>("Icons/ObiBendConstraints Icon")),
+            () =>
+            {
+                EditorGUILayout.PropertyField(bendCompliance, new GUIContent("Bend compliance"));
+                EditorGUILayout.PropertyField(maxBending, new GUIContent("Max bending"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRope actor, GizmoType gizmoType)
+        {
+            Handles.color = Color.white;
+            if (actor.ropeBlueprint != null)
+                ObiPathHandles.DrawPathHandle(actor.ropeBlueprint.path, actor.transform.localToWorldMatrix, actor.ropeBlueprint.thickness, 20, false);
+        }
+
+    }
+
+}
+
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta
new file mode 100644
index 00000000..78df88c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b7e5f7e0daf504c86885734478e9c965
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
new file mode 100644
index 00000000..02a4983f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
@@ -0,0 +1,55 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeExtrudedRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeExtrudedRendererEditor : Editor
+	{
+		
+		ObiRopeExtrudedRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeExtrudedRenderer)target;
+		}
+
+        [MenuItem("CONTEXT/ObiRopeExtrudedRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
+        {
+            ObiRopeExtrudedRenderer renderer = (ObiRopeExtrudedRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
+            {
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeExtrudedRenderer>() as ObiExtrudedRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save rope mesh", "rope mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
+            }
+        }
+
+        public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta
new file mode 100644
index 00000000..50deeab9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 0d0e145ce66cd47e798bf4b926eddfc2
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
new file mode 100644
index 00000000..586d69b1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
@@ -0,0 +1,38 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeLineRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeLineRendererEditor : Editor
+	{
+		
+		ObiRopeLineRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeLineRenderer)target;
+		}
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+                //renderer.UpdateRenderer(null);
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta
new file mode 100644
index 00000000..5accc43c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: c0a72c38772bb454dabc7efc5b8f03be
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
new file mode 100644
index 00000000..2d110592
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
@@ -0,0 +1,52 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeMeshRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeMeshRendererEditor : Editor
+	{
+		
+		ObiRopeMeshRenderer renderer;
+
+        [MenuItem("CONTEXT/ObiRopeMeshRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
+        {
+            ObiRopeMeshRenderer renderer = (ObiRopeMeshRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
+            {
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeMeshRenderer>() as ObiMeshRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save rope mesh", "rope mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
+            }
+        }
+
+        public void OnEnable(){
+			renderer = (ObiRopeMeshRenderer)target;
+		}
+
+        public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+
+            Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta
new file mode 100644
index 00000000..6a6c6a27
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 297abfc8979aa46329f3a7e914866adc
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs
new file mode 100644
index 00000000..b5c6fe48
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs
@@ -0,0 +1,213 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiParticleRenderer component. 
+	 */
+
+	[CustomEditor(typeof(ObiRopeSection))] 
+	public class ObiRopeSectionEditor : Editor
+	{
+	
+		ObiRopeSection section;
+		bool[] selected = new bool[0];
+
+		Color previewBck = new Color(0.2f,0.2f,0.2f,1);
+		Color previewLines = new Color(0.15f,0.15f,0.15f,1);
+
+		public void OnEnable(){
+			section = (ObiRopeSection)target;
+		}
+		
+		public override bool HasPreviewGUI(){
+			return true;
+		}
+
+		private void ResetSelection(){
+			selected = new bool[section.Segments];
+		}
+
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+
+			GUI.enabled = !EditorApplication.isPlaying;
+			GUILayout.Label("Presets");
+
+			GUILayout.BeginHorizontal();
+			if (GUILayout.Button("4-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(4);
+				ResetSelection();
+			}
+
+			if (GUILayout.Button("8-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(8);
+				ResetSelection();
+			}
+			GUILayout.EndHorizontal();
+
+			GUILayout.BeginHorizontal();
+			if (GUILayout.Button("12-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(12);
+				ResetSelection();
+			}
+
+			if (GUILayout.Button("16-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(16);
+				ResetSelection();				
+			}
+			GUILayout.EndHorizontal();
+
+			GUILayout.Label("Tools");
+			if (GUILayout.Button("Add vertex")){
+				Undo.RecordObject(section, "Add rope vertex");
+				section.vertices.Add(Vector2.zero);
+			}
+
+			if (GUILayout.Button("Remove selected vertices")){
+				Undo.RecordObject(section, "Remove rope vertices");
+				for (int i = selected.Length-1; i > 0; --i){
+					if (selected[i] && section.vertices.Count > 3)
+						section.vertices.RemoveAt(i);
+				}
+				// special cases: first vertex:
+				if (selected[0] && section.vertices.Count > 3){
+					section.vertices.RemoveAt(0);
+					section.vertices[section.vertices.Count-1] = section.vertices[0];
+				}
+
+				ResetSelection();
+			}
+			GUI.enabled = true;
+						
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				serializedObject.ApplyModifiedProperties();
+                EditorUtility.SetDirty(target);
+			}
+			
+		}
+
+		private void DrawSectionOutline(Rect region, Color color){
+			// Draw segment lines:
+			Handles.BeginGUI( );
+			Color oldColor = Handles.color;
+			Handles.color = color;
+			Vector3[] points = new Vector3[section.vertices.Count];
+			for (int i = 0; i < section.vertices.Count; i++){
+				points[i] = new Vector3(region.center.x + section.vertices[i].x * region.width * 0.5f,
+										region.center.y + section.vertices[i].y * region.height * 0.5f,0);		
+			}
+			Handles.DrawAAPolyLine(points);
+			Handles.EndGUI();
+			Handles.color = oldColor;
+		}
+
+		private void DrawDrawingArea(Rect region){
+			// Draw drawing area grid:
+			Handles.BeginGUI();
+			Handles.DrawSolidRectangleWithOutline(region,previewBck,previewLines);
+
+			Color oldColor = Handles.color;
+			Handles.color = previewLines;
+
+			if (section.snapX > 5){
+				float x = region.center.x;
+				while (x < region.xMax){
+					Handles.DrawLine(new Vector3(x,region.yMin,0),new Vector3(x,region.yMax,0));
+					x += section.snapX;
+				}
+				x = region.center.x - section.snapX;
+				while (x > region.xMin){
+					Handles.DrawLine(new Vector3(x,region.yMin,0),new Vector3(x,region.yMax,0));
+					x -= section.snapX;
+				}
+			}
+
+			if (section.snapY > 5){
+				float y = region.center.y;
+				while (y < region.yMax){
+					Handles.DrawLine(new Vector3(region.xMin,y,0),new Vector3(region.xMax,y,0));
+					y += section.snapY;
+				}
+				y = region.center.y - section.snapY;
+				while (y > region.yMin){
+					Handles.DrawLine(new Vector3(region.xMin,y,0),new Vector3(region.xMax,y,0));
+					y -= section.snapY;
+				}
+			}
+
+			Handles.color = oldColor;
+			Handles.EndGUI();
+		}
+
+		public override void OnPreviewGUI(Rect region, GUIStyle background)
+		{
+			DrawSectionOutline(region, Color.red);
+		}
+
+		public override void OnInteractivePreviewGUI(Rect region, GUIStyle background)
+		{
+			Array.Resize(ref selected,section.Segments);
+		
+			// Calculate drawing area rect:
+			Vector2 oldCenter = region.center;
+			if (region.width > region.height)
+				region.width = region.height;
+			if (region.height > region.width)
+				region.height = region.width;
+
+			region.width -= 10;
+			region.height -= 15;
+			
+			region.center = oldCenter;
+		
+			// Draw background and lines:
+			DrawDrawingArea(region);
+
+			// Draw the section outline:
+			DrawSectionOutline(region, Color.white);
+
+			// Draw all draggable vertices:
+			for (int i = 0; i < section.Segments; i++){
+
+				float x = region.center.x + section.vertices[i].x * region.width * 0.5f;
+				float y = region.center.y + section.vertices[i].y * region.height * 0.5f;
+				Vector2 pos = new Vector2(x,y);
+				
+				bool oldSelection = selected[i];
+				Vector2 olsPos = pos;
+				selected[i] = ObiDraggableIcon.Draw(selected[i],i,ref pos,Color.red);
+
+				if (selected[i] != oldSelection)
+					this.Repaint();
+
+				if (pos != olsPos){
+
+					pos.x = Mathf.Clamp(ObiRopeSection.SnapTo(pos.x - region.center.x,section.snapX,5) / (region.width * 0.5f),-1,1);
+					pos.y = Mathf.Clamp(ObiRopeSection.SnapTo(pos.y - region.center.y,section.snapY,5) / (region.height * 0.5f),-1,1);
+					section.vertices[i] = pos;
+					if (i == 0)
+						section.vertices[section.Segments] = pos;
+					
+                    EditorUtility.SetDirty(target);
+				}
+			}
+			
+		}
+		
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta
new file mode 100644
index 00000000..c12c5c62
--- /dev/null
+++ b/xiaofang/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 1539d8c58261942e28859228dfa310fb
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf b/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf
new file mode 100644
index 00000000..d2071e96
--- /dev/null
+++ b/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf
@@ -0,0 +1,21 @@
+                          Quickstart Guide
+
+1.- Follow the setup guide in our webpage for steps on how to install Obi:
+http://obi.virtualmethodstudio.com/tutorials/setup.html
+2.- To create a rope, click on GameObject->3D Object->Obi->Obi Rope.
+3.- Rope data is stored in blueprints. Create a blueprint asset for your rope by clicking
+the “create” button in the ObiRope component inspector and saving the blueprint fle
+somewhere in your project.
+
+4.- You're done! click play, you should see your rope falling due to gravity.
+There's so much more you can do with Obi: get your rope to collide against objects in
+the scene, other ropes or even itself, attach parts of it to other objects, set rope
+properties in the path editor, simulate aerodynamics, completely customize the
+appearance your rope, simulate rigid rods, etc. For further information, please refer
+to the Manual.
+
+                 Support / Contact
+
+If you have any suggestions, questions or issues, contact the developer at:
+                                   http://obi.virtualmethodstudio.com
+
diff --git a/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf.meta b/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf.meta
new file mode 100644
index 00000000..0218f7a9
--- /dev/null
+++ b/xiaofang/Assets/Obi/QuickstartGuide_rope.pdf.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: dd3977598aee74c5eaa2111f3d999165
+labels:
+- ObiRope
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/README.rtf b/xiaofang/Assets/Obi/README.rtf
new file mode 100644
index 00000000..d6d71741
--- /dev/null
+++ b/xiaofang/Assets/Obi/README.rtf
@@ -0,0 +1,38 @@
+{\rtf1\ansi\ansicpg1252\cocoartf2512
+\cocoatextscaling0\cocoaplatform0{\fonttbl\f0\fmodern\fcharset0 Courier-Bold;\f1\fmodern\fcharset0 Courier;}
+{\colortbl;\red255\green255\blue255;}
+{\*\expandedcolortbl;;}
+\paperw11900\paperh16840\margl1440\margr1440\vieww23180\viewh10900\viewkind0
+\deftab720
+\pard\pardeftab720\partightenfactor0
+
+\f0\b\fs26 \cf0 \expnd0\expndtw0\kerning0
+OFFICIAL OBI WEBPAGE:\
+{\field{\*\fldinst{HYPERLINK "http://obi.virtualmethodstudio.com"}}{\fldrslt 
+\f1\b0 http://obi.virtualmethodstudio.com}}\
+\
+OFFICIAL FORUM:\
+{\field{\*\fldinst{HYPERLINK "http://obi.virtualmethodstudio.com/forum"}}{\fldrslt 
+\f1\b0 http://obi.virtualmethodstudio.com/forum}}\
+\
+CREDITS:
+\f1\b0 \
+\
+\ul Programming, design:\ulnone \
+Jos\'e9 Mar\'eda \'93ArK\'94 M\'e9ndez Gonz\'e1lez\
+\
+\ul Support, Community management and Web/Forum maintenance:\ulnone \
+Lidia Mart\'ednez Prado 	\
+\
+\ul Special thanks to:\ulnone \
+VargaPD 					(testing and debugging)\
+theANMATOR2b 				(testing)\
+Hanging Cui				(testing, help with vectorization issues)\
+Janne Ramstedt 			(debugging and suggestions)\
+Tigrero Tiger				(debugging)\
+Hatchling 				(feedback regarding collision filtering and spatial query API)\
+\
+all the folks at the Unity forums and of course, all Obi users.\
+\
+\
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/README.rtf.meta b/xiaofang/Assets/Obi/README.rtf.meta
new file mode 100644
index 00000000..de9ed91b
--- /dev/null
+++ b/xiaofang/Assets/Obi/README.rtf.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 133c58a050c6b404cb14cc72f0a1676c
+timeCreated: 1443155832
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources.meta b/xiaofang/Assets/Obi/Resources.meta
new file mode 100644
index 00000000..0cc732a6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 6217e7f6fe8104bbca06fe7ac150a57d
+folderAsset: yes
+timeCreated: 1435572248
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute.meta b/xiaofang/Assets/Obi/Resources/Compute.meta
new file mode 100644
index 00000000..054ac134
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 55c2294f77a2c4783b788be18cc01798
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute
new file mode 100644
index 00000000..d51c3c4b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute
@@ -0,0 +1,61 @@
+#pragma kernel Project
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> aerodynamicCoeffs;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<uint4> normals;
+StructuredBuffer<float4> wind;
+StructuredBuffer<float> invMasses;
+
+RWStructuredBuffer<float4> velocities;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i];
+
+    float area = aerodynamicCoeffs[i * 3];
+    float dragCoeff = aerodynamicCoeffs[i * 3 + 1];
+    float liftCoeff = aerodynamicCoeffs[i * 3 + 2];
+
+    if (invMasses[p] > 0)
+    {
+        float4 relVelocity = velocities[p] - wind[p];
+        float rvSqrMag = dot(relVelocity, relVelocity);
+
+        if (rvSqrMag < EPSILON)
+            return;
+
+        float4 rvNorm = relVelocity / sqrt(rvSqrMag);
+
+        // calculate surface normal (always facing wind)
+        float4 surfNormal = asfloat(normals[p]) * sign(dot(asfloat(normals[p]), rvNorm));
+
+        // aerodynamic_factor was originally multiplied by air_density. The density is now premultiplied in lift and drag.
+        float aerodynamicFactor = 0.5f * rvSqrMag * area;
+        float attackAngle = dot(surfNormal,rvNorm);
+
+        float3 liftDirection = normalizesafe(cross(cross(surfNormal.xyz, rvNorm.xyz), rvNorm.xyz));
+
+        //drag:
+        velocities[p] += (-dragCoeff * rvNorm +
+
+                          // lift:
+                          liftCoeff * float4(liftDirection.xyz,0)) *
+
+                          // scale
+                          attackAngle * min(aerodynamicFactor * invMasses[p] * deltaTime, 1000);
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta
new file mode 100644
index 00000000..229e5ddc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a819ec002d4434b5da29879a26e3211a
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc b/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc
new file mode 100644
index 00000000..78305076
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc
@@ -0,0 +1,75 @@
+#ifndef ATOMICDELTAS_INCLUDE
+#define ATOMICDELTAS_INCLUDE
+
+#include "InterlockedUtils.cginc"
+
+RWStructuredBuffer<uint4> deltasAsInt;
+RWStructuredBuffer<uint> positionConstraintCounts;
+
+RWStructuredBuffer<uint4> orientationDeltasAsInt;
+RWStructuredBuffer<uint> orientationConstraintCounts;
+
+// atomic delta add:
+void AtomicAddPositionDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(deltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(deltasAsInt, index, 2, delta.z);
+    InterlockedAdd(positionConstraintCounts[index], 1);
+}
+
+void AtomicAddOrientationDelta(in int index, in quaternion delta)
+{
+    InterlockedAddFloat(orientationDeltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 2, delta.z);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 3, delta.w);
+    InterlockedAdd(orientationConstraintCounts[index], 1);
+}
+
+// non-atomic versions:
+void AddPositionDelta(in int index, in float4 delta)
+{
+    deltasAsInt[index] = asuint(delta + asfloat(deltasAsInt[index]));  
+    positionConstraintCounts[index]++;
+}
+
+void AddOrientationDelta(in int index, in quaternion delta)
+{
+    orientationDeltasAsInt[index] = asuint(delta + asfloat(orientationDeltasAsInt[index]));  
+    orientationConstraintCounts[index]++;
+}
+
+// applying deltas:
+void ApplyPositionDelta(RWStructuredBuffer<float4> positions, in int index, in float SOR)
+{
+    int count = positionConstraintCounts[index];
+    if (count > 0)
+    {
+        positions[index].xyz += float3(asfloat(deltasAsInt[index].x),
+                                       asfloat(deltasAsInt[index].y),
+                                       asfloat(deltasAsInt[index].z)) * SOR / count;
+
+        deltasAsInt[index] = uint4(0, 0, 0, 0);
+        positionConstraintCounts[index] = 0;
+    }
+}
+
+void ApplyOrientationDelta(RWStructuredBuffer<quaternion> orientations, in int index, in float SOR)
+{
+    int count = orientationConstraintCounts[index];
+    if (count > 0)
+    {
+        orientations[index] += quaternion(asfloat(orientationDeltasAsInt[index].x),
+                                          asfloat(orientationDeltasAsInt[index].y),
+                                          asfloat(orientationDeltasAsInt[index].z),
+                                          asfloat(orientationDeltasAsInt[index].w)) * SOR / count;
+
+        orientations[index] = normalize(orientations[index]);
+
+        orientationDeltasAsInt[index] = uint4(0, 0, 0, 0);
+        orientationConstraintCounts[index] = 0;
+    }
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta
new file mode 100644
index 00000000..8f9c197c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 1a767b30eef4240859cf6158473bd06a
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute
new file mode 100644
index 00000000..5652e39c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute
@@ -0,0 +1,83 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> restBends;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+    
+    int p1 = particleIndices[i * 3];
+    int p2 = particleIndices[i * 3 + 1];
+    int p3 = particleIndices[i * 3 + 2];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+    float w3 = invMasses[p3];
+
+    float wsum = w1 + w2 + 2 * w3;
+    if (wsum > 0)
+    { 
+        float4 bendVector = positions[p3] - (positions[p1] + positions[p2] + positions[p3]) / 3.0f;
+        float bend = length(bendVector);
+
+        if (bend > 0)
+        {
+            float constraint = 1.0f - (stiffnesses[i].x + restBends[i]) / bend;
+
+            // remove this to force a certain curvature.
+            if (constraint >= 0)
+            {
+                // calculate time adjusted compliance
+                float compliance = stiffnesses[i].y / (deltaTime * deltaTime);
+
+                // since the third particle moves twice the amount of the other 2, the modulus of its gradient is 2:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (wsum + compliance + EPSILON);
+                float4 correction = dlambda * bendVector;
+
+                lambdas[i] += dlambda;
+
+                float4 delta1 = -correction * 2 * w1;
+                float4 delta2 = -correction * 2 * w2;
+                float4 delta3 = correction * 4 * w3;
+
+                AddPositionDelta(p1, delta1);
+                AddPositionDelta(p2, delta2);
+                AddPositionDelta(p3, delta3);         
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 3];
+    int p2 = particleIndices[i * 3 + 1];
+    int p3 = particleIndices[i * 3 + 2];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+    ApplyPositionDelta(positions, p3, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute.meta
new file mode 100644
index 00000000..c253612b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BendConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 92b982b3ba8824f1cb17f9313e0b11ac
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute
new file mode 100644
index 00000000..81969677
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute
@@ -0,0 +1,78 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> orientationIndices;
+StructuredBuffer<float3> stiffnesses;
+StructuredBuffer<float2> plasticity;
+RWStructuredBuffer<quaternion> restDarboux;
+RWStructuredBuffer<float3> lambdas;
+
+RWStructuredBuffer<quaternion> orientations;
+StructuredBuffer<float> invRotationalMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int q1 = orientationIndices[i * 2];
+    int q2 = orientationIndices[i * 2 + 1];
+
+    float w1 = invRotationalMasses[q1];
+    float w2 = invRotationalMasses[q2];
+
+    // calculate time adjusted compliance
+    float3 compliances = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // rest and current darboux vectors
+    quaternion rest = restDarboux[i];
+    quaternion omega = qmul(q_conj(orientations[q1]), orientations[q2]);
+
+    quaternion omega_plus;
+    omega_plus = omega + rest;  //delta Omega with - omega_0
+    omega -= rest;              //delta Omega with + omega_0
+
+    if (dot(omega.xyz,omega.xyz) > dot(omega_plus.xyz,omega_plus.xyz))
+        omega = omega_plus;
+
+    // plasticity
+    if (dot(omega.xyz, omega.xyz) > plasticity[i].x * plasticity[i].x)
+    {
+        rest += omega * plasticity[i].y * deltaTime;
+        restDarboux[i] = rest;
+    }
+
+    float3 dlambda = (omega.xyz - compliances * lambdas[i]) / (compliances + w1 + w2 + EPSILON);
+
+    //discrete Darboux vector does not have vanishing scalar part
+    quaternion dlambdaQ = quaternion(dlambda[0], dlambda[1], dlambda[2],0);
+    
+    AddOrientationDelta(q1, qmul(orientations[q2], dlambdaQ) * w1);
+    AddOrientationDelta(q2,-qmul(orientations[q1], dlambdaQ) * w2);
+   
+    lambdas[i] += dlambda;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int q1 = orientationIndices[i * 2];
+    int q2 = orientationIndices[i * 2 + 1];
+
+    ApplyOrientationDelta(orientations, q1, sorFactor);
+    ApplyOrientationDelta(orientations, q2, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta
new file mode 100644
index 00000000..ab675e5e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e5ad8a2b8563941539b7551b0a93b911
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute b/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute
new file mode 100644
index 00000000..1929395f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute
@@ -0,0 +1,39 @@
+#pragma kernel BitonicSort
+
+const uint numEntries;
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex;
+
+RWStructuredBuffer<float> Keys;
+RWStructuredBuffer<float> Values;
+
+[numthreads(128,1,1)]
+void BitonicSort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds (for non-power of 2 input sizes)
+    if (indexRight >= numEntries) return;
+
+    float keyLeft = Keys[indexLeft];
+    float keyRight = Keys[indexRight];
+
+    float valueLeft = Values[indexLeft];
+    float valueRight = Values[indexRight]; 
+
+    // Swap entries if value is descending
+    if (valueLeft > valueRight)
+    {
+        Keys[indexLeft] = keyRight;
+        Keys[indexRight] = keyLeft;
+
+        Values[indexLeft] = valueRight;
+        Values[indexRight] = valueLeft;
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute.meta
new file mode 100644
index 00000000..16cb0e09
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BitonicSort.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ceefe1197724d4a408783ad72b2c56ab
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc b/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc
new file mode 100644
index 00000000..2549b518
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc
@@ -0,0 +1,127 @@
+#ifndef BOUNDS_INCLUDE
+#define BOUNDS_INCLUDE
+
+#include "Transform.cginc"
+#include "Matrix.cginc"
+
+struct aabb
+{
+    float4 min_;
+    float4 max_;
+
+    void FromTriangle(float4 v1, float4 v2, float4 v3, float4 margin)
+    {
+        min_ = min(min(v1, v2), v3) - margin;
+        max_ = max(max(v1, v2), v3) + margin;
+    }
+
+    void FromEdge(float4 v1, float4 v2, float4 radius)
+    {
+        min_ = min(v2 - radius, v1 - radius);
+        max_ = max(v2 + radius, v1 + radius);
+    }
+
+    void FromParticle(float4 v1, float radius)
+    {
+        min_ = v1 - radius;
+        max_ = v1 + radius;
+    }
+
+    bool IntersectsAabb(in aabb b, bool in2D = false)
+    {
+        if (in2D)
+        {
+        return (min_[0] <= b.max_[0] && max_[0] >= b.min_[0]) &&
+               (min_[1] <= b.max_[1] && max_[1] >= b.min_[1]);
+        }
+        else
+        {
+        return (min_[0] <= b.max_[0] && max_[0] >= b.min_[0]) &&
+               (min_[1] <= b.max_[1] && max_[1] >= b.min_[1]) &&
+               (min_[2] <= b.max_[2] && max_[2] >= b.min_[2]);
+        }
+    }
+
+    float AverageAxisLength()
+    {
+        float4 d = max_ - min_;
+        return (d.x + d.y + d.z) * 0.33f;
+    }
+
+    float MaxAxisLength()
+    {
+        float4 d = max_ - min_;
+        return max(max(d.x,d.y),d.z);
+    }
+
+    void EncapsulateParticle(in float4 position, float radius)
+    {
+        min_ = min(min(min_, position - radius), position - radius);
+        max_ = max(max(max_, position + radius), position + radius);
+    }
+
+    void EncapsulateParticle(in float4 previousPosition, in float4 position, float radius)
+    {
+        min_ = min(min(min_, position - radius), previousPosition - radius);
+        max_ = max(max(max_, position + radius), previousPosition + radius);
+    }
+
+    void EncapsulateBounds(in aabb bounds)
+    {
+        min_ = min(min_,bounds.min_);
+        max_ = max(max_,bounds.max_);
+    }
+
+    void Expand(float4 amount)
+    {
+        min_ -= amount;
+        max_ += amount;
+    }
+
+    void Sweep(float4 velocity)
+    {
+        min_ = min(min_, min_ + velocity);
+        max_ = max(max_, max_ + velocity);
+    }
+
+    float4 Center()
+    {
+        return (min_ + (max_ - min_) * 0.5f);
+    }
+
+    void Transform(in float4x4 transform)
+    {
+        float3 xa = transform._m00_m10_m20 * min_.x;
+        float3 xb = transform._m00_m10_m20 * max_.x;
+
+        float3 ya = transform._m01_m11_m21 * min_.y;
+        float3 yb = transform._m01_m11_m21 * max_.y;
+
+        float3 za = transform._m02_m12_m22 * min_.z;
+        float3 zb = transform._m02_m12_m22 * max_.z;
+
+        min_ = float4(min(xa, xb) + min(ya, yb) + min(za, zb) + transform._m03_m13_m23, 0);
+        max_ = float4(max(xa, xb) + max(ya, yb) + max(za, zb) + transform._m03_m13_m23, 0);
+    }
+
+    void Transform(in transform transform)
+    {
+        Transform(TRS(transform.translation.xyz, transform.rotation, transform.scale.xyz));
+    }
+
+    aabb Transformed(in float4x4 trfm)
+    {
+        aabb cpy = this;
+        cpy.Transform(trfm);
+        return cpy;
+    }
+
+    aabb Transformed(in transform trfm)
+    {
+        aabb cpy = this;
+        cpy.Transform(trfm);
+        return cpy;
+    }
+};
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc.meta
new file mode 100644
index 00000000..f3c0a8e7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Bounds.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 52c09ed0a553243328693072f77d1465
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute b/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute
new file mode 100644
index 00000000..91dabe39
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute
@@ -0,0 +1,93 @@
+#pragma kernel RuntimeSimplexBounds SIMPLEX_BOUNDS=RuntimeSimplexBounds USE_COLLISION_MAT
+#pragma kernel EditSimplexBounds SIMPLEX_BOUNDS=EditSimplexBounds 
+#pragma kernel Reduce
+
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "CollisionMaterial.cginc"
+#include "MathUtils.cginc"
+#include "Integration.cginc"
+#include "SolverParameters.cginc"
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterials;
+
+RWStructuredBuffer<aabb> simplexBounds;
+RWStructuredBuffer<aabb> reducedBounds;
+
+float deltaTime;
+
+groupshared aabb sdata[128]; 
+
+[numthreads(256, 1, 1)]
+void SIMPLEX_BOUNDS (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount)
+    {
+        reducedBounds[i].min_ =  float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+        reducedBounds[i].max_ = -float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+        return;
+    }
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(i, simplexSize);
+   
+    aabb sxBounds, soBounds;
+    sxBounds.min_ = soBounds.min_ = float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+    sxBounds.max_ = soBounds.max_ = float4(-FLT_MAX,-FLT_MAX,-FLT_MAX,0);
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int p = simplices[simplexStart + j];
+        
+        #if USE_COLLISION_MAT
+            int m = collisionMaterialIndices[p];
+            float solidRadius = principalRadii[p].x + collisionMargin + (m >= 0 ? collisionMaterials[m].stickDistance : 0);
+        #else
+            float solidRadius = principalRadii[p].x + collisionMargin;
+        #endif
+        
+        // Expand simplex bounds, using both the particle's original position and its velocity:
+        sxBounds.EncapsulateParticle(positions[p],
+                                     IntegrateLinear(positions[p], velocities[p], deltaTime * particleCCD), 
+                                     max(solidRadius, fluidMaterials[p].x * 0.5f));
+
+        soBounds.EncapsulateParticle(positions[p],
+                                     IntegrateLinear(positions[p], velocities[p], deltaTime), 
+                                     solidRadius);
+                                     
+    }
+
+    simplexBounds[i] = sxBounds;
+    reducedBounds[i] = soBounds;
+}
+
+[numthreads( 256, 1, 1)]
+void Reduce( uint3 threadIdx : SV_GroupThreadID, uint3 groupIdx : SV_GroupID)
+{
+    // each thread loads two elements from global to shared mem and combines them:
+    unsigned int tid = threadIdx.x;
+    unsigned int i = groupIdx.x * 256 + tid;
+    sdata[tid] = reducedBounds[i];
+    sdata[tid].EncapsulateBounds(reducedBounds[i + 128]);
+
+    GroupMemoryBarrierWithGroupSync(); 
+
+    // do reduction in shared mem
+    for (unsigned int s = 64; s > 0; s >>= 1)
+    {
+        if (tid < s) 
+        {
+            sdata[tid].EncapsulateBounds(sdata[tid + s]); 
+        }
+        GroupMemoryBarrierWithGroupSync(); 
+    }
+
+    // write result for this group to global mem
+    if (tid == 0) 
+        reducedBounds[groupIdx.x] = sdata[0]; 
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta
new file mode 100644
index 00000000..5959ca43
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4eaa80a9c435f42fa9837a3594766a1f
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute b/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute
new file mode 100644
index 00000000..d965346e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute
@@ -0,0 +1,125 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+
+struct Box : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 size = s.size * colliderToSolver.scale * 0.5f;
+
+        // clamp the point to the surface of the box:
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        // get minimum distance for each axis:
+        float4 distances = size - abs(pnt);
+
+        if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+        {
+            projectedPoint.normal = float4(0,0,0,0);
+            projectedPoint.pos = pnt;
+
+            // find minimum distance in all three axes and the axis index:        
+            if (distances.y < distances.x && distances.y < distances.z)
+            {
+                projectedPoint.normal[1] = sign(pnt[1]);
+                projectedPoint.pos[1] = size[1] * projectedPoint.normal[1];
+            }
+            else if (distances.z < distances.x && distances.z < distances.y)
+            {
+                projectedPoint.normal[2] = sign(pnt[2]);
+                projectedPoint.pos[2] = size[2] * projectedPoint.normal[2];
+            }
+            else
+            {
+                projectedPoint.normal[0] = sign(pnt[0]);
+                projectedPoint.pos[0] = size[0] * projectedPoint.normal[0];
+            }
+        }
+        else
+        {
+            projectedPoint.pos = clamp(pnt, -size, size);
+            projectedPoint.normal = normalizesafe(pnt - projectedPoint.pos);
+        }
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(projectedPoint.pos + center + projectedPoint.normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*BOX_SHAPE]) return; 
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[BOX_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Box boxShape;
+        boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        boxShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * boxShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute.meta
new file mode 100644
index 00000000..6928e9b1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoxShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9df6755bffe0b4dc5a30f4715e8a503c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute b/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute
new file mode 100644
index 00000000..034373c3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute
@@ -0,0 +1,136 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+struct Box : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 size = s.size * colliderToSolver.scale * 0.5f;
+
+        // clamp the point to the surface of the box:
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        // get minimum distance for each axis:
+        float4 distances = size - abs(pnt);
+
+        if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+        {
+            projectedPoint.normal = float4(0,0,0,0);
+            projectedPoint.pos = pnt;
+
+            // find minimum distance in all three axes and the axis index:        
+            if (distances.y < distances.x && distances.y < distances.z)
+            {
+                projectedPoint.normal[1] = sign(pnt[1]);
+                projectedPoint.pos[1] = size[1] * projectedPoint.normal[1];
+            }
+            else if (distances.z < distances.x && distances.z < distances.y)
+            {
+                projectedPoint.normal[2] = sign(pnt[2]);
+                projectedPoint.pos[2] = size[2] * projectedPoint.normal[2];
+            }
+            else
+            {
+                projectedPoint.normal[0] = sign(pnt[0]);
+                projectedPoint.pos[0] = size[0] * projectedPoint.normal[0];
+            }
+        }
+        else
+        {
+            projectedPoint.pos = clamp(pnt, -size, size);
+            projectedPoint.normal = normalizesafe(pnt - projectedPoint.pos);
+        }
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(projectedPoint.pos + center + projectedPoint.normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*BOX_QUERY]) return; 
+    
+    int firstPair = contactOffsetsPerType[BOX_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Box boxShape;
+    boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    boxShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos,surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= boxShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            results[count] = c;
+     
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+    
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta
new file mode 100644
index 00000000..4b6e8ed4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 409c5f7d65dd84df9853de82bd3fbf46
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute b/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute
new file mode 100644
index 00000000..1b99c0e6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute
@@ -0,0 +1,122 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+
+struct Capsule : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        int direction = (int)s.size.z;
+        float height;
+        float radius;
+        float4 halfVector = float4(0,0,0,0);
+
+        if (direction == 0)
+        {
+            radius = s.size.x * max(colliderToSolver.scale[1], colliderToSolver.scale[2]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[0]);
+            halfVector[0] = height - radius;
+        }
+        else if (direction == 1)
+        {
+            radius = s.size.x * max(colliderToSolver.scale[2], colliderToSolver.scale[0]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[1]);
+            halfVector[1] = height - radius;
+        }
+        else
+        {
+            radius = s.size.x * max(colliderToSolver.scale[0], colliderToSolver.scale[1]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[2]);
+            halfVector[2] = height - radius;
+        }
+
+        float mu;
+        float4 centerLine = NearestPointOnEdge(-halfVector, halfVector, pnt, mu);
+        float4 centerToPoint = pnt - centerLine;
+        float distanceToCenter = length(centerToPoint);
+
+        float4 normal = centerToPoint / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*CAPSULE_SHAPE]) return; 
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[CAPSULE_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Capsule capsuleShape;
+        capsuleShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        capsuleShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(capsuleShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * capsuleShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta
new file mode 100644
index 00000000..0295bcb2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bd92ed8a5b1bc404c9b114747495f080
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute
new file mode 100644
index 00000000..62c8c1a4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute
@@ -0,0 +1,159 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> firstIndex;
+StructuredBuffer<int> numIndices;
+StructuredBuffer<float2> restLengths;
+
+RWStructuredBuffer<float4> ni; // (ni:constraint gradient, di:desired lenght)
+RWStructuredBuffer<float3> diagonals; // (subdiagonals), bi (diagonals) and ci (superdiagonals):
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int c = id.x;
+
+    if (c >= activeConstraintCount) return;
+
+    int numEdges = numIndices[c] - 1;
+    int first = firstIndex[c];
+    float minLength = restLengths[c].x;
+    float maxLength = restLengths[c].y;
+    
+    int i;
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+
+        float4 p1 = positions[particleIndices[edge]];
+        float4 p2 = positions[particleIndices[edge+1]];
+        float4 diff = p1 - p2;
+
+        float dist = length(diff);
+        ni[edge] = float4(diff/(dist + EPSILON));
+    }
+
+    // calculate ai, bi and ci
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+
+        float w_i_ = invMasses[particleIndices[edge]];
+        float w__i = invMasses[particleIndices[edge+1]];
+
+        float4 ni__ = FLOAT4_ZERO;
+        if (i > 0) ni__ = ni[edge - 1];
+        
+        float4 n__i = FLOAT4_ZERO;
+        if (i < numEdges - 1) n__i = ni[edge + 1];
+
+        diagonals[edge] = float3(-w_i_ * dot(ni[edge], ni__), // ai
+                                  w_i_ + w__i,             // bi
+                                 -w__i * dot(ni[edge], n__i));// ci
+    }
+
+    // solve step #1, forward sweep:
+    // reuse diagonals.xy to store sweep results ci_ and di_:
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+        float4 p1 = positions[particleIndices[edge]];
+        float4 p2 = positions[particleIndices[edge + 1]];
+
+        float cip_ = 0;
+        float dip_ = 0;
+
+        if (i > 0)
+        {
+            cip_ = diagonals[edge - 1].x;
+            dip_ = diagonals[edge - 1].y;
+        }
+
+        float3 d = diagonals[edge];
+        float den = d.y - cip_ * d.x;
+
+        if (abs(den) > EPSILON)
+        {
+            float dist = distance(p1, p2);
+            float correction = 0;
+
+            if (dist >= maxLength)
+                correction = dist - maxLength;
+            else if (dist <= minLength)
+                correction = dist - minLength;
+
+            d.xy = float2(d.z / den, (correction - dip_ * d.x) / den);
+
+        }
+        else
+            d.xy = float2(0,0);
+
+        diagonals[edge] = d;
+    }
+
+    // solve step #2, backward sweep. reuse diagonals.z to store solution xi:
+    for (i = numEdges - 1; i >= 0; --i)
+    {
+        int edge = first + i;
+
+        float xi_ = (i < numEdges - 1) ? diagonals[edge + 1].z : 0;
+
+        float3 d = diagonals[edge];
+        d.z = d.y - d.x * xi_;
+        diagonals[edge] = d;
+    }
+
+    // calculate deltas:
+    for (i = 0; i < numIndices[c]; ++i)
+    {
+        int index = first + i;
+
+        float4 ni__ = FLOAT4_ZERO;
+        float xi_ = 0;
+
+        if (i > 0)
+        {
+            ni__ = ni[index - 1];
+            xi_ = diagonals[index - 1].z;
+        }
+
+        float4 n_i_ = FLOAT4_ZERO;
+        float nxi = 0;
+
+        if (i < numIndices[c] - 1) 
+        {
+            n_i_ = ni[index];
+            nxi = diagonals[index].z;
+        }
+
+        int p = particleIndices[index];
+
+        AddPositionDelta(p, invMasses[p] * (ni__ * xi_ - n_i_ * nxi));
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int first = firstIndex[i];
+    int last = first + numIndices[i];
+
+    for (int k = first; k < last; ++k)
+        ApplyPositionDelta(positions, particleIndices[k], sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta
new file mode 100644
index 00000000..561afa19
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2a5f3e8f1330846819f1abe7a6181c51
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute
new file mode 100644
index 00000000..069c5990
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute
@@ -0,0 +1,180 @@
+#pragma kernel UpdateSkinConstraints
+#pragma kernel UpdateClothMesh
+
+#include "MathUtils.cginc"
+
+struct Influence
+{
+    int index;
+    float weight;
+};
+
+struct SkinmapData
+{
+    int firstInfluence;
+    int firstInfNumber;
+    int firstParticleBindPose;
+    
+    int firstSkinWeight;
+    int firstSkinWeightNumber;
+    int firstBoneBindPose;
+
+    int bindPoseCount;
+};
+
+struct SkeletonData
+{
+    int firstBone;
+    int boneCount;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> rendererIndices; // for each vertex/particle, index of its renderer.
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+
+StructuredBuffer<int> skinConstraintOffsets;
+
+StructuredBuffer<int> skinmapIndices; // for each renderer, index of its skinmap.
+StructuredBuffer<int> meshIndices; // for each renderer, index of its mesh.
+StructuredBuffer<int> skeletonIndices; // for each renderer, index of its skeleton.
+
+StructuredBuffer<int> particleOffsets; // for each renderer, index of its first particle in the batch.
+StructuredBuffer<int> vertexOffsets;  // for each renderer, index of its first vertex in the batch.
+
+StructuredBuffer<SkinmapData> skinData;
+StructuredBuffer<Influence> influences;
+StructuredBuffer<int> influenceOffsets;
+StructuredBuffer<float4x4> particleBindMatrices;
+StructuredBuffer<float4x4> boneBindMatrices;
+
+StructuredBuffer<SkeletonData> skeletonData;
+StructuredBuffer<float3> bonePos;
+StructuredBuffer<quaternion> boneRot;
+StructuredBuffer<float3> boneScl;
+
+StructuredBuffer<MeshData> meshData;
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+
+RWStructuredBuffer<float4> skinConstraintPoints;
+RWStructuredBuffer<float4> skinConstraintNormals;
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint vertexCount;
+uint constraintCount;
+float4x4 world2Solver;
+
+[numthreads(128, 1, 1)]
+void UpdateSkinConstraints (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= constraintCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    SkeletonData skel = skeletonData[skeletonIndices[rendererIndex]];
+
+    // invalid skeleton:
+    if (skel.boneCount <= 0)
+        return;
+
+    // get index of this particle in its original actor: 
+    int originalParticleIndex = i - particleOffsets[rendererIndex];
+
+    // get first influence and amount of influences for this particle:
+    int influenceStart = influenceOffsets[skin.firstSkinWeightNumber + originalParticleIndex];
+    int influenceCount = influenceOffsets[skin.firstSkinWeightNumber + originalParticleIndex + 1] - influenceStart;
+
+    float4 pos = FLOAT4_ZERO;
+    float4 norm = FLOAT4_ZERO;
+
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstSkinWeight + k];
+
+        float4x4 bind = boneBindMatrices[skin.firstBoneBindPose + inf.index];
+
+        int boneIndex = skel.firstBone + inf.index;
+        float4x4 deform = TRS(bonePos[boneIndex], boneRot[boneIndex], boneScl[boneIndex]);
+        float4x4 trfm = mul(world2Solver, mul(deform, bind));
+
+        pos.xyz += mul(trfm, float4(restPositions[particleIndices[i]].xyz, 1)).xyz * inf.weight;
+        norm.xyz += mul(trfm, float4(rotate_vector(restOrientations[particleIndices[i]], float3(0, 0, 1)), 0)).xyz * inf.weight;
+    }
+
+    int constraintIndex = skinConstraintOffsets[rendererIndex] + originalParticleIndex;
+    skinConstraintPoints[constraintIndex] = pos;
+    skinConstraintNormals[constraintIndex] = norm;
+    
+}
+
+[numthreads(128, 1, 1)]
+void UpdateClothMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= vertexCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    
+    // get index of this vertex in its original mesh:
+    int originalVertexIndex = i - vertexOffsets[rendererIndex];
+
+    // get index of the vertex in the mesh batch:
+    int batchedVertexIndex = mesh.firstVertex + originalVertexIndex;
+
+    // get first influence and amount of influences for this vertex:
+    int influenceStart = influenceOffsets[skin.firstInfNumber + originalVertexIndex];
+    int influenceCount = influenceOffsets[skin.firstInfNumber + originalVertexIndex + 1] - influenceStart;
+    
+    float3 position = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 tangent = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstInfluence + k];
+        
+        int p = particleIndices[particleOffsets[rendererIndex] + inf.index];
+
+        float4x4 deform = mul(m_translate(FLOAT4X4_IDENTITY,renderablePositions[p].xyz), q_toMatrix(renderableOrientations[p]));
+        float4x4 trfm = mul(deform, particleBindMatrices[skin.firstParticleBindPose + inf.index]);
+
+        // update vertex/normal/tangent:
+        position += mul(trfm, float4(positions[batchedVertexIndex], 1)).xyz * inf.weight;
+        normal += mul(trfm, float4(normals[batchedVertexIndex], 0)).xyz * inf.weight;
+        tangent += float4(mul(trfm, float4(tangents[batchedVertexIndex].xyz, 0)).xyz, tangents[batchedVertexIndex].w) * inf.weight;
+        color += colors[p] * inf.weight;
+    }
+
+    int base = i * 14;
+    vertices.Store3( base<<2, asuint(position));
+    vertices.Store3((base + 3)<<2, asuint(normal));
+    vertices.Store4((base + 6)<<2, asuint(tangent));
+    vertices.Store4((base + 10)<<2, asuint(color));
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute.meta
new file mode 100644
index 00000000..5b2b24c9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ClothRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7620e03e082f448828570f6659b73301
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute
new file mode 100644
index 00000000..d4f22386
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute
@@ -0,0 +1,219 @@
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "CollisionMaterial.cginc"
+#include "AtomicDeltas.cginc"
+
+#pragma kernel Clear
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float4> prevOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+RWStructuredBuffer<rigidbody> RW_rigidbodies;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> orientations;
+RWStructuredBuffer<float4> deltas;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint particleCount;
+float maxDepenetration;
+float substepTime;
+float stepTime;
+int steps;
+float timeLeft;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= dispatchBuffer[3]) return;
+
+    int rigidbodyIndex = shapes[contacts[i].bodyB].rigidbodyIndex;
+    if (rigidbodyIndex >= 0)
+    {
+        int orig;
+        InterlockedExchange(RW_rigidbodies[rigidbodyIndex].constraintCount, 0, orig);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexStartA = GetSimplexStartAndSize(contacts[i].bodyA, simplexSizeA);
+
+    // get the material from the first particle in the simplex:
+    int aMaterialIndex = collisionMaterialIndices[simplices[simplexStartA]];
+    bool rollingContacts = aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false;
+
+    float4 relativeVelocity = FLOAT4_ZERO;
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    quaternion simplexPrevOrientation = quaternion(0, 0, 0, 0);
+    float simplexRadius = 0;
+    float simplexInvMass = 0;
+    float simplexInvRotationalMass = 0;
+
+    for (int j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        relativeVelocity += velocities[particleIndex] * contacts[i].pointA[j];
+        simplexPrevPosition += prevPositions[particleIndex] * contacts[i].pointA[j];
+        simplexPrevOrientation += prevOrientations[particleIndex] * contacts[i].pointA[j];
+        simplexInvMass += invMasses[particleIndex] * contacts[i].pointA[j];
+        simplexInvRotationalMass += invRotationalMasses[particleIndex] * contacts[i].pointA[j];
+        simplexRadius += EllipsoidRadius(contacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    // if there's a rigidbody present, subtract its velocity from the relative velocity:
+    int rigidbodyIndex = shapes[contacts[i].bodyB].rigidbodyIndex;
+    if (rigidbodyIndex >= 0)
+    {
+        // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
+        relativeVelocity -= GetRigidbodyVelocityAtPoint(RW_rigidbodies[rigidbodyIndex], contacts[i].pointB, 
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        int bMaterialIndex = shapes[contacts[i].bodyB].materialIndex;
+        rollingContacts = rollingContacts | (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
+    }
+
+    // update contact distance
+    contacts[i].dist = dot(simplexPrevPosition - contacts[i].pointB, contacts[i].normal) - simplexRadius;
+
+    // calculate contact point in A's surface:
+    float4 contactPoint = contacts[i].pointB +  contacts[i].normal * contacts[i].dist;
+
+    // update contact basis:
+    CalculateBasis(relativeVelocity, contacts[i].normal, contacts[i].tangent);
+
+    // calculate A's contact mass.
+    float4 invInertiaTensor = 1.0/(GetParticleInertiaTensor(simplexRadius, simplexInvRotationalMass) + FLOAT4_EPSILON);
+    CalculateContactMassesA(simplexInvMass, invInertiaTensor, simplexPrevPosition, simplexPrevOrientation, contactPoint, rollingContacts, contacts[i].normal, contacts[i].tangent, GetBitangent(contacts[i]), effectiveMasses[i].normalInvMassA, effectiveMasses[i].tangentInvMassA, effectiveMasses[i].bitangentInvMassA);
+   
+    // clear B's contact mass.
+    if (rigidbodyIndex >= 0)
+    {
+        CalculateContactMassesB(RW_rigidbodies[rigidbodyIndex], inertialSolverFrame[0].frame, contacts[i].pointB, contacts[i].normal, contacts[i].tangent, GetBitangent(contacts[i]), effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+        InterlockedAdd(RW_rigidbodies[rigidbodyIndex].constraintCount, 1);
+    }
+    else
+    {
+        ClearContactMasses(effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    // Skip contacts involving triggers:
+    if (shapes[contacts[i].bodyB].isTrigger())
+        return;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+    int colliderIndex = contacts[i].bodyB;
+
+    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+     // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStart]], shapes[colliderIndex].materialIndex);
+
+    // Get relative velocity at contact point.
+    // As we do not consider true ellipses for collision detection, particle contact points are never off-axis.
+    // So particle angular velocity does not contribute to normal impulses, and we can skip it.
+    float4 simplexPosition = FLOAT4_ZERO;
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPosition += positions[particleIndex] * contacts[i].pointA[j];
+        simplexPrevPosition += prevPositions[particleIndex] * contacts[i].pointA[j];
+        simplexRadius += EllipsoidRadius(contacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    // project position to the end of the full step:
+    float4 posA = lerp(simplexPrevPosition, simplexPosition, substepsToEnd);
+    posA += -contacts[i].normal * simplexRadius;
+
+    float4 posB = contacts[i].pointB;
+    int rbContacts = 1;
+    if (rigidbodyIndex >= 0)            
+    {
+        posB += GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex], contacts[i].pointB, 
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]) * frameEnd;
+        rbContacts = rigidbodies[rigidbodyIndex].constraintCount;
+    }
+
+    float normalInvMass = effectiveMasses[i].normalInvMassA + effectiveMasses[i].normalInvMassB * rbContacts;
+    float lambda = SolveAdhesion(contacts[i], normalInvMass, posA, posB, material.stickDistance, material.stickiness, stepTime);
+
+    lambda += SolvePenetration(contacts[i], normalInvMass, posA, posB, maxDepenetration * stepTime);
+
+    if (abs(lambda) > EPSILON)
+    {
+        float4 delta = lambda * contacts[i].normal * BaryScale(contacts[i].pointA) / substepsToEnd;
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+            float4 delta1 = delta * invMasses[particleIndex] * contacts[i].pointA[j];
+
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyImpulse(rigidbodyIndex, -lambda / frameEnd * contacts[i].normal, contacts[i].pointB, inertialSolverFrame[0].frame);
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+    
+    ApplyPositionDelta(positions, p, sorFactor);
+}
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta
new file mode 100644
index 00000000..c8cd8057
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ff4c3e041ffef4a5c91cf275735a7ecc
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc b/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc
new file mode 100644
index 00000000..f5317ee4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc
@@ -0,0 +1,80 @@
+#ifndef COLLIDERDEFS_INCLUDE
+#define COLLIDERDEFS_INCLUDE
+
+#define SPHERE_SHAPE 0
+#define BOX_SHAPE 1
+#define CAPSULE_SHAPE 2
+#define HEIGHTMAP_SHAPE 3
+#define TRIANGLE_MESH_SHAPE 4
+#define EDGE_MESH_SHAPE 5
+#define SDF_SHAPE 6
+
+#define FORCEMODE_FORCE 0
+#define FORCEMODE_ACCEL 1
+#define FORCEMODE_WIND  2
+
+#define DAMPDIR_ALL 0
+#define DAMPDIR_FORCE 1
+#define DAMPDIR_SURFACE  2
+
+#define ZONETYPE_DIRECTIONAL 0
+#define ZONETYPE_RADIAL 1
+#define ZONETYPE_VORTEX 2
+#define ZONETYPE_VOID 3
+
+struct shape
+{
+    float4 center;   
+    float4 size;     /**<     box: size of the box in each axis.
+                                      sphere: radius of sphere (x,y,z),
+                                      capsule: radius (x), height(y), direction (z, can be 0, 1 or 2).
+                                      heightmap: width (x axis), height (y axis) and depth (z axis) in world units.*/
+    uint type;       /**<  Sphere = 0,
+                           Box = 1,
+                           Capsule = 2,
+                           Heightmap = 3,
+                           TriangleMesh = 4,
+                           EdgeMesh = 5,
+                           SignedDistanceField = 6*/
+
+    float contactOffset;
+    int dataIndex;
+    int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
+    int materialIndex;   // index of the associated material in the collision world.
+    int forceZoneIndex;   // index of the associated force zone in the collision world.
+    int phase;
+    int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0).
+                         // third bit determines whether shape is inverted or not.
+   
+    bool is2D()
+    {
+        return (flags & 1) != 0;
+    }
+
+    bool isTrigger()
+    {
+        // TODO: using bools doesn't work... why?
+        int a = (flags & 1 << 1) != 0;
+        int b = forceZoneIndex >= 0;
+        return a || b;
+    }
+
+    float isInverted()
+    {
+        return (flags & 1 << 2) != 0 ? -1 : 1;
+    }
+};
+
+struct forceZone
+{
+    uint type;
+    uint mode;
+    uint dampingDir;
+    float intensity;
+    float minDistance;
+    float maxDistance;
+    float falloffPower;
+    float damping;
+};
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta
new file mode 100644
index 00000000..46948415
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: fe486a46344cd4c299b4475a4e046796
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute
new file mode 100644
index 00000000..175d3320
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute
@@ -0,0 +1,192 @@
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "CollisionMaterial.cginc"
+#include "Integration.cginc"
+#include "AtomicDeltas.cginc"
+
+#pragma kernel Project
+#pragma kernel Apply
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<float4> principalRadii;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> RW_orientations;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint particleCount;
+float substepTime;
+float stepTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    // Skip contacts involving triggers:
+    if (shapes[contacts[i].bodyB].isTrigger())
+        return;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+    int colliderIndex = contacts[i].bodyB;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStart]], shapes[colliderIndex].materialIndex);
+
+    // Calculate relative velocity:
+    float4 rA = float4(0,0,0,0), rB = float4(0,0,0,0);
+
+    float4 prevPositionA = float4(0,0,0,0);
+    float4 linearVelocityA = float4(0,0,0,0);
+    float4 angularVelocityA = float4(0,0,0,0);
+    float invRotationalMassA = 0;
+    quaternion orientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        prevPositionA    += prevPositions[particleIndex] * contacts[i].pointA[j];
+        linearVelocityA  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contacts[i].pointA[j];
+        angularVelocityA += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contacts[i].pointA[j];
+        invRotationalMassA += invRotationalMasses[particleIndex] * contacts[i].pointA[j];
+        orientationA += orientations[particleIndex] * contacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(contacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    float4 relativeVelocity = linearVelocityA;
+
+    // Add particle angular velocity if rolling contacts are enabled:
+    if (material.rollingContacts > 0)
+    {
+        rA = -contacts[i].normal * simplexRadiusA;
+        relativeVelocity += float4(cross(angularVelocityA.xyz, rA.xyz), 0);
+    }
+
+    // Subtract rigidbody velocity:
+    int rbContacts = 1;
+    if (rigidbodyIndex >= 0)
+    {
+        // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
+        rB = solverToWorld[0].TransformPoint(contacts[i].pointB) - rigidbodies[rigidbodyIndex].com;
+        
+        relativeVelocity -= GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex], contacts[i].pointB,
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        rbContacts = rigidbodies[rigidbodyIndex].constraintCount;
+    }
+
+    // Determine impulse magnitude:
+    float tangentMass = effectiveMasses[i].tangentInvMassA + effectiveMasses[i].tangentInvMassB * rbContacts;
+    float bitangentMass = effectiveMasses[i].bitangentInvMassA + effectiveMasses[i].bitangentInvMassB * rbContacts;
+    float2 impulses = SolveFriction(contacts[i], tangentMass, bitangentMass, relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+    if (abs(impulses.x) > EPSILON || abs(impulses.y) > EPSILON)
+    {
+        float4 tangentImpulse   = impulses.x * contacts[i].tangent;
+        float4 bitangentImpulse = impulses.y * GetBitangent(contacts[i]);
+        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+        float baryScale = BaryScale(contacts[i].pointA);
+        for (j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+            float4 delta1 = (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contacts[i].pointA[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyImpulse(rigidbodyIndex, -totalImpulse, contacts[i].pointB, inertialSolverFrame[0].frame);
+        }
+
+        // Rolling contacts:
+        if (material.rollingContacts > 0)
+        {
+            // Calculate angular velocity deltas due to friction impulse:
+            float4 invInertiaTensor = 1.0/(GetParticleInertiaTensor(simplexRadiusA, invRotationalMassA) + FLOAT4_EPSILON);
+            float4x4 solverInertiaA = TransformInertiaTensor(invInertiaTensor, orientationA);
+
+            float4 angVelDeltaA = mul(solverInertiaA, float4(cross(rA.xyz, totalImpulse.xyz), 0));
+            float4 angVelDeltaB = FLOAT4_ZERO;
+
+            // Final angular velocities, after adding the deltas:
+            angularVelocityA += angVelDeltaA;
+            float4 angularVelocityB = FLOAT4_ZERO;
+
+            // Calculate weights (inverse masses):
+            float invMassA = length(mul(solverInertiaA, normalizesafe(angularVelocityA)));
+            float invMassB = 0;
+
+            if (rigidbodyIndex >= 0)
+            {
+                angVelDeltaB = mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, float4(cross(rB.xyz, totalImpulse.xyz), 0));
+                angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
+                invMassB = length(mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, normalizesafe(angularVelocityB))) * rbContacts;
+            }
+
+            // Calculate rolling axis and angular velocity deltas:
+            float4 rollAxis = FLOAT4_ZERO;
+            float rollingImpulse = SolveRollingFriction(contacts[i], angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, rollAxis);
+            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+            // Apply orientation delta to particles:
+            quaternion orientationDelta = AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+
+            for (j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDelta);
+            }
+
+            // Apply angular velocity delta to rigidbody:
+            if (rigidbodyIndex >= 0)
+            {
+                AtomicAddAngularDelta(rigidbodyIndex, angVelDeltaB);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+
+    ApplyPositionDelta(RW_positions, p, sorFactor);
+    ApplyOrientationDelta(RW_orientations, p, sorFactor);
+}
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta
new file mode 100644
index 00000000..e3e3d701
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ec52fd9d30c594294a7c2f0f50cc6096
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute b/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute
new file mode 100644
index 00000000..c699fbf0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute
@@ -0,0 +1,473 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "AtomicDeltas.cginc"
+#include "Phases.cginc"
+
+#define MAX_CONTACTS_PER_SIMPLEX 32
+
+#pragma kernel Clear
+#pragma kernel BuildUnsortedList
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortList
+#pragma kernel BuildContactList
+#pragma kernel PrefixSumColliderCounts
+#pragma kernel SortContactPairs
+#pragma kernel ApplyForceZones
+#pragma kernel WriteForceZoneResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> externalForces;
+RWStructuredBuffer<float4> wind;
+RWStructuredBuffer<float> life;
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> filters;    
+RWStructuredBuffer<aabb> simplexBounds; // bounding box of each simplex. 
+
+StructuredBuffer<aabb> aabbs;
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+StructuredBuffer<forceZone> forceZones;
+RWStructuredBuffer<uint> sortedColliderIndices;
+
+RWStructuredBuffer<uint> colliderTypeCounts;
+RWStructuredBuffer<uint> contactOffsetsPerType;
+RWStructuredBuffer<uint2> unsortedContactPairs;
+
+RWStructuredBuffer<uint> cellIndices;
+RWStructuredBuffer<uint> cellOffsets;
+
+RWStructuredBuffer<uint> cellCounts;
+RWStructuredBuffer<uint> offsetInCells;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint2> contactPairs;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+uint colliderCount;    // amount of colliders in the grid.
+uint cellsPerCollider; // max amount of cells a collider can be inserted into. Typically this is 8.
+int shapeTypeCount;    // number of different collider shapes, ie: box, sphere, sdf, etc.
+uint particleCount;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell offsets to invalid, so that we can later use atomic minimum to calculate the offset.
+    if (i < maxCells)
+    {
+        cellOffsets[i] = INVALID;
+        cellCounts[i] = 0;
+    }
+
+    // clear all cell indices to invalid.
+    if (i < colliderCount)
+    {
+        for (uint j = 0; j < cellsPerCollider; ++j)
+            cellIndices[i*cellsPerCollider+j] = INVALID;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildUnsortedList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= colliderCount) return;
+
+    aabb bounds = aabbs[i];
+    int rb = shapes[i].rigidbodyIndex;
+
+    // Expand bounds by rigidbody's linear velocity
+    // (check against out of bounds rigidbody access, can happen when a destroyed collider references a rigidbody that has just been destroyed too)
+    if (rb >= 0)// && rb < rigidbodies.Length)
+        bounds.Sweep(rigidbodies[rb].velocity * deltaTime);
+
+    // Expand bounds by collision material's stick distance:
+    if (shapes[i].materialIndex >= 0) 
+        bounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
+
+    // calculate bounds size, grid level and cell size:
+    float4 size = bounds.max_ - bounds.min_;
+    float maxSize = max(max (size.x, size.y), size.z);
+    int level = GridLevelForSize(maxSize);
+    float cellSize = CellSizeOfLevel(level);
+    
+    // calculate max and min cell coordinates (force 4th component to zero, might not be after expanding)
+    int4 minCell = floor(bounds.min_ / cellSize);
+    int4 maxCell = floor(bounds.max_ / cellSize);
+    minCell[3] = 0;
+    maxCell[3] = 0;
+
+    // if the collider is 2D, project it to the z = 0 cells.
+    if (shapes[i].is2D())
+    {
+        minCell[2] = 0;
+        maxCell[2] = 0;
+    }
+
+    int4 cellSpan = maxCell - minCell;
+   
+    // insert collider in cells:
+    for (int x = 0; x <= cellSpan[0]; ++x)
+    {
+        for (int y = 0; y <= cellSpan[1]; ++y)
+        {
+            for (int z = 0; z <= cellSpan[2]; ++z)
+            {
+                int cellIndex = GridHash(minCell + int4(x, y, z, level));
+                
+                // calculate flat index of this cell into arrays:
+                int k = x + y*2 + z*4 + i*cellsPerCollider;
+
+                cellIndices[k] = cellIndex;
+                InterlockedAdd(cellCounts[cellIndex],1,offsetInCells[k]);
+            }
+        }
+    }
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128, 1, 1)]
+void SortList (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= colliderCount * cellsPerCollider) return;
+
+    uint cellIndex = cellIndices[i];
+
+    if (cellIndex != INVALID)
+    {
+        // write collider to its sorted index:
+        uint sortedIndex = cellOffsets[cellIndex] + offsetInCells[i];
+        sortedColliderIndices[sortedIndex] = i;
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellCount = colliderCount * cellsPerCollider;
+    int candidateCount = 0;
+    uint candidates[MAX_CONTACTS_PER_SIMPLEX];
+    
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(threadIndex, simplexSize);
+    
+    aabb b = simplexBounds[threadIndex].Transformed(solverToWorld[0]);
+
+    // max size of the particle bounds in cells:
+    int4 maxSize = int4(10,10,10,10);
+
+    // build a list of candidate colliders:
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int4 minCell = floor(b.min_ / cellSize);
+        int4 maxCell = floor(b.max_ / cellSize);
+        maxCell = minCell + min(maxCell - minCell, maxSize);
+
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                // for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
+                // (which are inserted in cells with z == 0) are accounted for in the broadphase.
+                if (mode == 1)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,0,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        // sorted insert into the candidates list:
+                        if (candidateCount < MAX_CONTACTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                }
+
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,z,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        if (candidateCount < MAX_CONTACTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                   
+                }
+            }
+        }
+    }
+    
+    //evaluate candidates and create contacts: 
+    if (candidateCount > 0)
+    {
+        // insert sort:
+        for (int k = 1; k < candidateCount; ++k)
+        {
+            uint key = candidates[k];
+            int j = k - 1;
+
+            while (j >= 0 && candidates[j] > key)
+                candidates[j + 1] = candidates[j--];
+
+            candidates[j + 1] = key;
+        }
+
+        // make sure each candidate only shows up once in the list:
+        int first = 0, contactCount = 0;
+        while(++first != candidateCount)
+        {
+            if (candidates[contactCount] != candidates[first])
+                candidates[++contactCount] = candidates[first];
+        }
+        contactCount++;
+
+        // append contacts:
+        for (int i = 0; i < contactCount; i++)
+        {
+            int c = candidates[i];
+           
+            aabb colliderBoundsWS = aabbs[c];
+            int rb = shapes[c].rigidbodyIndex;
+
+            // Expand bounds by rigidbody's linear velocity:
+            if (rb >= 0)
+                colliderBoundsWS.Sweep(rigidbodies[rb].velocity * deltaTime);
+
+            // Expand bounds by collision material's stick distance:
+            if (shapes[c].materialIndex >= 0)
+                colliderBoundsWS.Expand(collisionMaterials[shapes[c].materialIndex].stickDistance);
+
+            // check if any simplex particle and the collider should collide:
+            bool shouldCollide = false;
+            int colliderCategory = shapes[c].phase & CategoryMask;
+            int colliderMask = (shapes[c].phase & MaskMask) >> 16;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int simplexCategory = filters[simplices[simplexStart + j]] & CategoryMask;
+                int simplexMask = (filters[simplices[simplexStart + j]] & MaskMask) >> 16;
+                shouldCollide = shouldCollide || ((simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0);
+            }
+
+            if (shouldCollide && b.IntersectsAabb(colliderBoundsWS, mode == 1))
+            {
+                uint count;
+                InterlockedAdd(dispatchBuffer[7], 1, count);
+
+                // technically incorrect, as number of pairs != number of contacts but
+                // we will ignore either excess pairs or contacts.
+                if (count < maxContacts) 
+                {
+                    // increment the amount of contacts for this shape type:
+                    InterlockedAdd(colliderTypeCounts[shapes[c].type],1);
+
+                    // enqueue a new contact pair:
+                    unsortedContactPairs[count] = uint2(threadIndex,c);
+
+                    InterlockedMax(dispatchBuffer[4],(count + 1) / 128 + 1);
+                }
+            }
+        }
+    }   
+}
+
+[numthreads(1, 1, 1)]
+void PrefixSumColliderCounts (uint3 id : SV_DispatchThreadID) 
+{
+    contactOffsetsPerType[0] = 0;
+    int i;
+
+    for (i = 0; i < shapeTypeCount; ++i)
+    {
+        contactOffsetsPerType[i+1] = contactOffsetsPerType[i] + colliderTypeCounts[i];
+
+        // write amount of pairs per collider type in the dispatch buffer:
+        dispatchBuffer[8 + i*4] = colliderTypeCounts[i] / 128 + 1;
+        dispatchBuffer[8 + i*4 + 3] = colliderTypeCounts[i];
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortContactPairs (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[7] || i >= maxContacts) return;
+
+    uint2 pair = unsortedContactPairs[i];
+    int shapeType = (int)shapes[pair.y].type;
+
+    // decrement amount of pairs for the given collider type:
+    uint count;
+    InterlockedAdd(colliderTypeCounts[shapeType],-1, count);
+
+    // write the pair directly at its position in the sorted array:
+    contactPairs[contactOffsetsPerType[shapeType] + count - 1] = pair;
+}
+
+void AtomicAddExternalForceDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(deltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(deltasAsInt, index, 2, delta.z);
+}
+
+void AtomicAddWindDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(orientationDeltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 2, delta.z);
+}
+
+void AtomicAddLifeDelta(in int index, in float delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 3, delta);
+}
+
+[numthreads(128, 1, 1)]
+void ApplyForceZones (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int forceZoneIndex = shapes[contacts[i].bodyB].forceZoneIndex;
+
+    if (forceZoneIndex >= 0)
+    {
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+       
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+
+            if (invMasses[particleIndex] > 0)
+            {
+                float dist = -dot(positions[particleIndex] - contacts[i].pointB, contacts[i].normal);
+                if (dist < 0) continue;
+                
+                float4 axis = worldToSolver[0].Multiply(transforms[contacts[i].bodyB]).TransformDirection(float4(0, 0, 1, 0));
+                
+                // calculate falloff region based on min/max distances:
+                float falloff = 1;
+                float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
+                if (abs(range) > EPSILON)
+                    falloff = pow(saturate((dist - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
+
+                float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
+                float dampIntensity  = forceZones[forceZoneIndex].damping * falloff;
+
+                // calculate force direction, depending on the type of the force field:
+                float4 result = FLOAT4_ZERO;
+                switch (forceZones[forceZoneIndex].type)
+                {
+                    case ZONETYPE_RADIAL:
+                        result = contacts[i].normal * forceIntensity;
+                        break;
+                    case ZONETYPE_VORTEX:
+                        result = float4(cross(axis.xyz * forceIntensity, contacts[i].normal.xyz),0);
+                        break;
+                    case ZONETYPE_DIRECTIONAL:
+                        result = axis * forceIntensity;
+                        break;
+                    default:
+                        AtomicAddLifeDelta(particleIndex, -forceIntensity * deltaTime);
+                        return;
+                }
+
+                // calculate damping along force direction:
+                float4 dampingDir;
+                switch (forceZones[forceZoneIndex].dampingDir)
+                {
+                    case DAMPDIR_FORCE:
+                        {
+                            float4 forceDir = normalizesafe(result);
+                            result -= forceDir * dot(velocities[particleIndex], forceDir) * dampIntensity; 
+                        }
+                        break;
+                    case DAMPDIR_SURFACE:
+                            result -= contacts[i].normal * dot(velocities[particleIndex], contacts[i].normal) * dampIntensity;
+                        break;
+                    default:
+                            result -= velocities[particleIndex] * dampIntensity;
+                        break;
+                }
+                
+                // here we reuse position and orientation delta buffers as velocity and wind buffers for atomic writes:
+                switch (forceZones[forceZoneIndex].mode)
+                {
+                    case FORCEMODE_ACCEL:
+                        AtomicAddExternalForceDelta(particleIndex, result / simplexSize / invMasses[particleIndex]);
+                    break;
+                    case FORCEMODE_FORCE:
+                        AtomicAddExternalForceDelta(particleIndex, result / simplexSize);
+                    break;
+                    case FORCEMODE_WIND:
+                        AtomicAddWindDelta(particleIndex, result / simplexSize);
+                    break;
+                }
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void WriteForceZoneResults (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+   
+    externalForces[p].xyz += float3(asfloat(deltasAsInt[p].x),
+                                    asfloat(deltasAsInt[p].y),
+                                    asfloat(deltasAsInt[p].z));
+
+    wind[p].xyz += float3(asfloat(orientationDeltasAsInt[p].x),
+                          asfloat(orientationDeltasAsInt[p].y),
+                          asfloat(orientationDeltasAsInt[p].z));
+
+    life[p] += asfloat(deltasAsInt[p].w);
+
+    deltasAsInt[p] = uint4(0, 0, 0, 0);
+    orientationDeltasAsInt[p] = uint4(0, 0, 0, 0);
+}
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta
new file mode 100644
index 00000000..6dbc2185
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: df152b65921c34856a1ea566d782acc1
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc b/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc
new file mode 100644
index 00000000..5bfaa856
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc
@@ -0,0 +1,109 @@
+#ifndef COLLISIONMATERIAL_INCLUDE
+#define COLLISIONMATERIAL_INCLUDE
+
+struct collisionMaterial
+{
+    float dynamicFriction;
+    float staticFriction;
+    float rollingFriction;
+    float stickiness;
+    float stickDistance;
+    int frictionCombine;
+    int stickinessCombine;
+    int rollingContacts;
+};
+
+StructuredBuffer<int> collisionMaterialIndices;
+StructuredBuffer<collisionMaterial> collisionMaterials;
+
+collisionMaterial EmptyCollisionMaterial()
+{
+    collisionMaterial m;
+    m.dynamicFriction = 0;
+    m.staticFriction = 0;
+    m.rollingFriction = 0;
+    m.stickiness = 0;
+    m.stickDistance = 0;
+    m.frictionCombine = 0;
+    m.stickinessCombine = 0;
+    m.rollingContacts = 0;
+    return m;
+}
+
+collisionMaterial CombineWith(collisionMaterial a, collisionMaterial b)
+{
+    collisionMaterial result;
+    int frictionCombineMode = max(a.frictionCombine, b.frictionCombine);
+    int stickCombineMode = max(a.stickinessCombine, b.stickinessCombine);
+
+    switch (frictionCombineMode)
+    {
+        case 0:
+        default:
+            result.dynamicFriction = (a.dynamicFriction + b.dynamicFriction) * 0.5f;
+            result.staticFriction = (a.staticFriction + b.staticFriction) * 0.5f;
+            result.rollingFriction = (a.rollingFriction + b.rollingFriction) * 0.5f;
+            break;
+
+        case 1:
+            result.dynamicFriction = min(a.dynamicFriction, b.dynamicFriction);
+            result.staticFriction = min(a.staticFriction, b.staticFriction);
+            result.rollingFriction = min(a.rollingFriction, b.rollingFriction);
+            break;
+
+        case 2:
+            result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
+            result.staticFriction = a.staticFriction * b.staticFriction;
+            result.rollingFriction = a.rollingFriction * b.rollingFriction;
+            break;
+
+        case 3:
+            result.dynamicFriction = max(a.dynamicFriction, b.dynamicFriction);
+            result.staticFriction = max(a.staticFriction, b.staticFriction);
+            result.rollingFriction = max(a.rollingFriction, b.rollingFriction);
+            break;
+    }
+
+    switch (stickCombineMode)
+    {
+        case 0:
+        default:
+            result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
+            break;
+
+        case 1:
+            result.stickiness = min(a.stickiness, b.stickiness);
+            break;
+
+        case 2:
+            result.stickiness = a.stickiness * b.stickiness;
+            break;
+
+        case 3:
+            result.stickiness = max(a.stickiness, b.stickiness);
+            break;
+    }
+
+    result.stickDistance = max(a.stickDistance, b.stickDistance);
+    result.rollingContacts = a.rollingContacts | b.rollingContacts;
+    return result;
+}
+
+collisionMaterial CombineCollisionMaterials(int materialA, int materialB)
+{
+    // Combine collision materials:
+    collisionMaterial combined;
+
+    if (materialA >= 0 && materialB >= 0)
+        combined = CombineWith(collisionMaterials[materialA], collisionMaterials[materialB]);
+    else if (materialA >= 0)
+        combined = collisionMaterials[materialA];
+    else if (materialB >= 0)
+        combined = collisionMaterials[materialB];
+    else 
+        combined = EmptyCollisionMaterial();
+
+    return combined;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta
new file mode 100644
index 00000000..adab542a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 034a508161c9948969266fd0cbf21988
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc b/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc
new file mode 100644
index 00000000..1ffbd7fb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc
@@ -0,0 +1,228 @@
+#ifndef CONTACTHANDLING_INCLUDE
+#define CONTACTHANDLING_INCLUDE
+
+#include "MathUtils.cginc"
+#include "Transform.cginc"
+
+struct contact // 96 bytes
+{
+    float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+    float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+    float4 normal;         /**< Normal direction. */
+    float4 tangent;        /**< Tangent direction. */
+
+    float dist;            /** distance between both colliding entities at the beginning of the timestep.*/
+   
+    float normalLambda;
+    float tangentLambda;
+    float bitangentLambda;
+    float stickLambda;
+    float rollingFrictionImpulse;
+
+    int bodyA;
+    int bodyB;
+};
+
+// 24 bytes
+struct contactMasses
+{
+    float normalInvMassA;
+    float tangentInvMassA;
+    float bitangentInvMassA;
+
+    float normalInvMassB;
+    float tangentInvMassB;
+    float bitangentInvMassB;
+};
+
+float4 GetBitangent(in contact c)
+{
+   return normalizesafe(float4(cross(c.normal.xyz,c.tangent.xyz),0));
+}
+
+void CalculateBasis(in float4 relativeVelocity, in float4 normal, out float4 tangent)
+{
+    tangent = normalizesafe(relativeVelocity - dot(relativeVelocity, normal) * normal);
+}
+
+void CalculateContactMassesA(float invMass,
+                             float4 inverseInertiaTensor,
+                             float4 position,
+                             quaternion orientation,
+                             float4 contactPoint,
+                             bool rollingContacts,
+                             float4 normal,
+                             float4 bitangent,
+                             float4 tangent,
+                             out float normalInvMassA,
+                             out float tangentInvMassA,
+                             out float bitangentInvMassA)
+{
+    // initialize inverse linear masses:
+    normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
+
+    if (rollingContacts)
+    {
+        float4 rA = contactPoint - position;
+        float4x4 solverInertiaA = TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+        normalInvMassA += RotationalInvMass(solverInertiaA, rA, normal);
+        tangentInvMassA += RotationalInvMass(solverInertiaA, rA, tangent);
+        bitangentInvMassA += RotationalInvMass(solverInertiaA, rA, bitangent);
+    }
+}
+
+void CalculateContactMassesB(float invMass,
+                            float4 inverseInertiaTensor,
+                            float4 position,
+                            quaternion orientation,
+                            float4 contactPoint,
+                            bool rollingContacts,
+                            float4 normal,
+                            float4 bitangent,
+                            float4 tangent,
+                            out float normalInvMassB,
+                            out float tangentInvMassB,
+                            out float bitangentInvMassB)
+{
+    // initialize inverse linear masses:
+    normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
+
+    if (rollingContacts)
+    {
+        float4 rB = contactPoint - position;
+        float4x4 solverInertiaB = TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+        normalInvMassB += RotationalInvMass(solverInertiaB, rB, normal);
+        tangentInvMassB += RotationalInvMass(solverInertiaB, rB, tangent);
+        bitangentInvMassB += RotationalInvMass(solverInertiaB, rB, bitangent);
+    }
+}
+
+void ClearContactMasses(out float normalInvMass,
+                        out float tangentInvMass,
+                        out float bitangentInvMass)
+{
+    normalInvMass = tangentInvMass = bitangentInvMass = 0;
+}
+
+float SolveAdhesion(inout contact c, float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
+{
+    float lambdaChange = 0;
+
+    if (normalMass > 0 && stickDistance > 0 && stickiness > 0 && dt > 0)
+    {
+        c.dist = dot(posA - posB, c.normal);
+
+        // calculate stickiness position correction:
+        float constraint = stickiness * (1 - max(c.dist / stickDistance, 0)) * dt;
+
+        // calculate lambda multiplier:
+        float dlambda = -constraint / normalMass;
+
+        // accumulate lambda:
+        float newStickinessLambda = min(c.stickLambda + dlambda, 0);
+
+        // calculate lambda change and update accumulated lambda:
+        lambdaChange = newStickinessLambda - c.stickLambda;
+        c.stickLambda = newStickinessLambda;
+    }
+
+    return lambdaChange;
+}
+
+float SolvePenetration(inout contact c, float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
+{
+    float lambdaChange = 0;
+
+    if (normalMass > 0)
+    {
+        //project position delta to normal vector:
+        c.dist = dot(posA - posB, c.normal);
+
+        // calculate max projection distance based on depenetration velocity:
+        float maxProjection = max(-c.dist - maxDepenetrationDelta, 0);
+
+        // calculate lambda multiplier:
+        float dlambda = -(c.dist  + maxProjection) / normalMass;
+
+        // accumulate lambda:
+        float newLambda = max(c.normalLambda + dlambda, 0);
+
+        // calculate lambda change and update accumulated lambda:
+        lambdaChange = newLambda - c.normalLambda;
+        c.normalLambda = newLambda;
+    }
+
+    return lambdaChange;
+}
+
+float2 SolveFriction(inout contact c, float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
+{
+    float2 lambdaChange = float2(0,0);
+
+    if (tangentMass > 0 && bitangentMass > 0 &&
+        (dynamicFriction > 0 || staticFriction > 0) && (c.normalLambda > 0 /*|| stickLambda > 0*/))
+    {
+        // calculate delta projection on both friction axis:
+        float tangentPosDelta = dot(relativeVelocity, c.tangent);
+        float bitangentPosDelta = dot(relativeVelocity, GetBitangent(c));
+
+        // calculate friction pyramid limit:
+        float dynamicFrictionCone = c.normalLambda / dt * dynamicFriction;
+        float staticFrictionCone  = c.normalLambda / dt * staticFriction;
+
+        // tangent impulse:
+        float tangentLambdaDelta = -tangentPosDelta / tangentMass; 
+        float newTangentLambda = c.tangentLambda + tangentLambdaDelta;
+
+        if (abs(newTangentLambda) > staticFrictionCone)
+            newTangentLambda = clamp(newTangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+        lambdaChange[0] = newTangentLambda - c.tangentLambda;
+        c.tangentLambda = newTangentLambda;
+
+        // bitangent impulse:
+        float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
+        float newBitangentLambda = c.bitangentLambda + bitangentLambdaDelta;
+
+        if (abs(newBitangentLambda) > staticFrictionCone)
+            newBitangentLambda = clamp(newBitangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+        lambdaChange[1] = newBitangentLambda - c.bitangentLambda;
+        c.bitangentLambda = newBitangentLambda;
+    }
+
+    return lambdaChange;
+}
+
+float SolveRollingFriction(inout contact c,
+                           float4 angularVelocityA,
+                           float4 angularVelocityB,
+                           float rollingFriction,
+                           float invMassA,
+                           float invMassB,
+                           inout float4 rolling_axis)
+{
+    float rolling_impulse_change = 0;
+    float totalInvMass = invMassA + invMassB;
+
+    if (totalInvMass > 0)
+    {
+        rolling_axis = normalizesafe(angularVelocityA - angularVelocityB);
+
+        float vel1 = dot(angularVelocityA,rolling_axis);
+        float vel2 = dot(angularVelocityB,rolling_axis);
+
+        float relativeVelocity = vel1 - vel2;
+
+        float maxImpulse = c.normalLambda * rollingFriction;
+        float newRollingImpulse = clamp(c.rollingFrictionImpulse - relativeVelocity / totalInvMass, -maxImpulse, maxImpulse);
+        rolling_impulse_change = newRollingImpulse - c.rollingFrictionImpulse;
+        c.rollingFrictionImpulse = newRollingImpulse;
+    }
+
+    return rolling_impulse_change;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta
new file mode 100644
index 00000000..0cf2726c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 28492658e279e4adaab298f430af09a2
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute b/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute
new file mode 100644
index 00000000..636b7a71
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute
@@ -0,0 +1,139 @@
+#pragma kernel ResetNormals
+#pragma kernel UpdateNormals
+#pragma kernel UpdateEdgeNormals
+#pragma kernel OrientationFromNormals
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+
+StructuredBuffer<int> deformableTriangles;
+StructuredBuffer<float2> deformableTriangleUVs;
+
+StructuredBuffer<int> deformableEdges;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<float4> wind;
+StructuredBuffer<int> phases;
+
+RWStructuredBuffer<uint4> normals;
+RWStructuredBuffer<uint4> tangents;
+RWStructuredBuffer<quaternion> renderableOrientations;
+
+// Variables set from the CPU
+uint normalsCount;
+uint triangleCount;
+uint edgeCount;
+
+void AccumulateNormal(in int index, in float4 delta)
+{
+    InterlockedAddFloat(normals, index, 0, delta.x);
+    InterlockedAddFloat(normals, index, 1, delta.y);
+    InterlockedAddFloat(normals, index, 2, delta.z);
+}
+
+void AccumulateTangent(in int index, in float4 delta)
+{
+    InterlockedAddFloat(tangents, index, 0, delta.x);
+    InterlockedAddFloat(tangents, index, 1, delta.y);
+    InterlockedAddFloat(tangents, index, 2, delta.z);
+    InterlockedAddFloat(tangents, index, 3, delta.w);
+}
+
+[numthreads(128, 1, 1)]
+void ResetNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= normalsCount) return;
+
+    if ((phases[i] & (int)PHASE_FLUID) == 0)
+    {
+        normals[i] = asuint(FLOAT4_ZERO);
+        tangents[i] = asuint(FLOAT4_ZERO);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void UpdateNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= triangleCount) return;
+    
+    int p1 = deformableTriangles[i*3];
+    int p2 = deformableTriangles[i*3 + 1];
+    int p3 = deformableTriangles[i*3 + 2];
+
+    float2 w1 = deformableTriangleUVs[i*3];
+    float2 w2 = deformableTriangleUVs[i*3 + 1];
+    float2 w3 = deformableTriangleUVs[i*3 + 2];
+
+    float4 v1 = renderablePositions[p1];
+    float4 v2 = renderablePositions[p2];
+    float4 v3 = renderablePositions[p3];
+
+    float3 m1 = (v2 - v1).xyz;
+    float3 m2 = (v3 - v1).xyz;
+
+    float2 s = w2 - w1;
+    float2 t = w3 - w1;
+
+    float4 normal  = float4(cross(m1, m2), 0);
+    float4 tangent = FLOAT4_ZERO;
+
+    float area = s.x * t.y - t.x * s.y;
+
+    if (abs(area) > EPSILON)
+    {
+        tangent = float4(t.y * m1.x - s.y * m2.x,
+                         t.y * m1.y - s.y * m2.y,
+                         t.y * m1.z - s.y * m2.z, 0) / area;
+    }
+
+    AccumulateNormal(p1,normal);
+    AccumulateNormal(p2,normal);
+    AccumulateNormal(p3,normal);
+
+    AccumulateTangent(p1,tangent);
+    AccumulateTangent(p2,tangent);
+    AccumulateTangent(p3,tangent);
+}
+
+[numthreads(128, 1, 1)]
+void UpdateEdgeNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= edgeCount) return;
+
+    int p1 = deformableEdges[i * 2];
+    int p2 = deformableEdges[i * 2 + 1];
+
+    float4 edge = renderablePositions[p2] - renderablePositions[p1];
+    float4 avgWind = (wind[p1] + wind[p2]) * 0.5f;
+    float denom =  dot(edge, edge);
+    float4 normal = avgWind - (denom < EPSILON ? FLOAT4_ZERO : edge * dot(avgWind, edge) / denom);
+
+    AccumulateNormal(p1,normal);
+    AccumulateNormal(p2,normal);
+}
+
+[numthreads(128, 1, 1)]
+void OrientationFromNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= normalsCount) return;
+
+    if ((phases[i] & (int)PHASE_FLUID) == 0)
+    {
+        float4 normal = asfloat(normals[i]);
+        float4 tangent = asfloat(tangents[i]);
+
+        if (dot(normal, normal) > EPSILON &&
+            dot(tangent, tangent) > EPSILON)
+        {
+            normals[i] = asuint(normalizesafe(normal));
+            tangents[i] = asuint(normalizesafe(tangent));
+
+            // particle orientation from normal/tangent:
+            renderableOrientations[i] = q_look_at(asfloat(normals[i]).xyz, asfloat(tangents[i]).xyz);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta
new file mode 100644
index 00000000..6175b9da
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2444094f2fb2c43cfb9c90b5949f39ec
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute
new file mode 100644
index 00000000..f373013c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute
@@ -0,0 +1,326 @@
+#pragma kernel UpdateDensities
+#pragma kernel Apply
+#pragma kernel ApplyPositionDeltas
+#pragma kernel ApplyAtmosphere
+#pragma kernel AccumulateSmoothPositions
+#pragma kernel AccumulateAnisotropy
+#pragma kernel AverageAnisotropy
+
+#include "MathUtils.cginc"
+#include "Quaternion.cginc"
+#include "AtomicDeltas.cginc"
+#include "FluidKernels.cginc"
+  
+StructuredBuffer<uint> neighbors;
+StructuredBuffer<uint> neighborCounts;
+
+StructuredBuffer<int> sortedToOriginal; 
+
+StructuredBuffer<float4> sortedPositions;
+StructuredBuffer<float4> sortedPrevPositions;
+StructuredBuffer<float4> sortedFluidMaterials;
+StructuredBuffer<float4> sortedFluidInterface;
+StructuredBuffer<float4> sortedPrincipalRadii;
+StructuredBuffer<float4> sortedUserData;
+RWStructuredBuffer<float4> sortedFluidData;
+
+StructuredBuffer<quaternion> prevOrientations;
+
+StructuredBuffer<float4> wind;
+
+RWStructuredBuffer<float4> fluidData;
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> orientations;
+RWStructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> userData;
+RWStructuredBuffer<float4> normals;
+
+RWStructuredBuffer<float4> massCenters;
+RWStructuredBuffer<float4> prevMassCenters;
+
+RWStructuredBuffer<float4> renderablePositions;
+RWStructuredBuffer<quaternion> renderableOrientations;
+RWStructuredBuffer<float4> renderableRadii;
+
+RWStructuredBuffer<float4x4> anisotropies;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint maxNeighbors;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void UpdateDensities (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    float4 positionA = sortedPositions[i];
+    float4 fluidMaterialA = sortedFluidMaterials[i];
+    
+    // self-contribution:
+    float avgKernel = Poly6(0,fluidMaterialA.x);
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3-mode); // in 2D, mode == 1 so amount of dimensions is 2.
+    float grad = restVolumeA * Spiky(0,fluidMaterialA.x);
+    
+    float4 fluidDataA = float4(avgKernel,0,grad,grad*grad);
+    float4 massCenterA = avgKernel * float4(positionA.xyz, 1) / positionA.w;
+    float4 prevMassCenterA = avgKernel * float4(sortedPrevPositions[i].xyz, 1) / positionA.w;
+    float4x4 anisotropyA = avgKernel * (multrnsp4(positionA, sortedPrevPositions[i]) + FLOAT4X4_IDENTITY * 0.2 * sortedPrincipalRadii[i].x * sortedPrincipalRadii[i].x) / positionA.w;
+
+    float4 fluidMaterialB;
+    float4 positionB;
+    
+    // iterate over neighborhood, calculate density and gradient.
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+        
+        fluidMaterialB = sortedFluidMaterials[n];
+        positionB = sortedPositions[n];
+        float dist = length((positionA - positionB).xyz);
+        
+        float avgKernel = (Poly6(dist,fluidMaterialA.x) +  Poly6(dist,fluidMaterialB.x)) * 0.5f;
+
+        float restVolumeB = pow(abs(sortedPrincipalRadii[n].x * 2),3-mode); 
+        float grad = restVolumeB * Spiky(dist,fluidMaterialA.x);
+        fluidDataA += float4(restVolumeB / restVolumeA * avgKernel,0,grad,grad*grad);
+
+        // accumulate masses for COMs and moment matrices:       
+        massCenterA += avgKernel * float4(positionB.xyz, 1) / positionB.w;
+        prevMassCenterA += avgKernel * float4(sortedPrevPositions[n].xyz, 1) / positionB.w;
+        anisotropyA += avgKernel * (multrnsp4(positionB, sortedPrevPositions[n]) + FLOAT4X4_IDENTITY * 0.2 * sortedPrincipalRadii[n].x * sortedPrincipalRadii[n].x) / positionB.w;
+    }
+    
+    // self particle contribution to density and gradient:
+    fluidDataA[3] += fluidDataA[2] * fluidDataA[2];
+    
+    // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+    // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+    // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+    float constraint = max(0, fluidDataA[0] * restVolumeA - 1);
+
+    // calculate lambda:
+    fluidDataA[1] = -constraint / (positionA.w * fluidDataA[3] + EPSILON);
+
+    // get total neighborhood mass: 
+    float M = massCenterA[3];
+    massCenterA /= massCenterA[3];
+    prevMassCenterA /= prevMassCenterA[3];
+
+    // update moment:
+    anisotropyA -= M * multrnsp4(massCenterA, prevMassCenterA);
+   
+    // extract neighborhood orientation delta:
+    renderableOrientations[i] = ExtractRotation(anisotropyA, QUATERNION_IDENTITY, 2);
+
+    sortedFluidData[i] = fluidDataA;
+    massCenters[i] = massCenterA;
+    prevMassCenters[i] = prevMassCenterA;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3-mode); 
+    float4 fluidMaterialA = sortedFluidMaterials[i];
+    float4 positionA = sortedPositions[i];
+    float4 prevPositionA = sortedPrevPositions[i];
+    float4 massCenterA = massCenters[i];
+    float lambdaA = sortedFluidData[i][1];
+
+    float4 fluidMaterialB;
+    float4 fluidInterfaceB;
+    float4 massCenterB;
+    float4 positionB;
+
+    float4 pressureDelta = FLOAT4_ZERO;
+    float4 viscVortDelta = FLOAT4_ZERO;
+
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+
+        fluidMaterialB = sortedFluidMaterials[n];
+        massCenterB = massCenters[n];
+        positionB = sortedPositions[n];
+
+        float4 normal = float4((positionA - positionB).xyz,0);
+        float dist = length(normal);
+
+        float restVolumeB = pow(abs(sortedPrincipalRadii[n].x * 2),3-mode);
+        
+        // calculate lambda correction due to polarity (cohesion):
+        float cAvg = (Cohesion(dist,fluidMaterialA.x * 1.4) + Cohesion(dist,fluidMaterialB.x * 1.4)) * 0.5;
+        float st = 0.2 * cAvg * (1 - saturate(abs(fluidMaterialA.y - fluidMaterialB.y))) * (fluidMaterialA.y + fluidMaterialB.y) * 0.5;
+        float scorrA = -st / (positionA.w * sortedFluidData[i][3] + EPSILON);
+        float scorrB = -st / (positionB.w * sortedFluidData[n][3] + EPSILON);
+        
+        float avgGradient = (Spiky(dist,fluidMaterialA.x) + Spiky(dist,fluidMaterialB.x)) * 0.5;
+        pressureDelta += normal / (dist + EPSILON) * avgGradient * ((lambdaA + scorrA) * restVolumeB + (sortedFluidData[n][1] + scorrB) * restVolumeA);
+        
+        // viscosity and vorticity:
+        float4 viscGoal = float4(massCenterB.xyz + rotate_vector(renderableOrientations[n], (prevPositionA - prevMassCenters[n]).xyz), 0);
+        float4 vortGoal = float4(massCenterB.xyz + rotate_vector(renderableOrientations[n], (positionA - massCenterB).xyz), 0);
+        viscVortDelta += (viscGoal - positionA) * fluidMaterialB.z + (vortGoal - positionA) * fluidMaterialB.w * 0.1;
+    }
+
+    // viscosity and vorticity:
+    float4 viscGoal = float4(massCenterA.xyz + rotate_vector(renderableOrientations[i], (prevPositionA - prevMassCenters[i]).xyz), 0);
+    float4 vortGoal = float4(massCenterA.xyz + rotate_vector(renderableOrientations[i], (positionA - massCenterA).xyz), 0);
+    viscVortDelta += (viscGoal - positionA) * fluidMaterialA.z + (vortGoal - positionA) * fluidMaterialA.w * 0.1;
+    
+    AddPositionDelta(sortedToOriginal[i], pressureDelta * positionA.w + viscVortDelta / (neighborCounts[i] + 1));
+}
+
+[numthreads(128, 1, 1)]
+void ApplyPositionDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int p = sortedToOriginal[i];
+    ApplyPositionDelta(positions, p, 1);
+    
+    orientations[p] = qmul(renderableOrientations[i], prevOrientations[p]);
+    fluidData[p] = sortedFluidData[i];
+}
+
+[numthreads(128, 1, 1)]
+void ApplyAtmosphere (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int originalIndex = sortedToOriginal[i];
+
+    float4 normal = FLOAT4_ZERO;
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3 - mode); 
+    float4 positionA = sortedPositions[i];
+    float radiiA = sortedFluidMaterials[i].x;
+    float4 userDataA = sortedUserData[i];
+    
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+
+        float restVolumeB =  pow(abs(sortedPrincipalRadii[n].x * 2),3 - mode);
+        float radiiB = sortedFluidMaterials[n].x;
+
+        float4 dir = positionA - sortedPositions[n];
+        float dist = length(dir);
+
+        float avgKernel = (Poly6(dist,radiiA) +  Poly6(dist,radiiB)) * 0.5f;
+        float avgGradient = (Spiky(dist,radiiA) + Spiky(dist,radiiB)) * 0.5;
+
+        // property diffusion:
+        float diffusionSpeed = (sortedFluidInterface[i].w + sortedFluidInterface[n].w) * avgKernel * deltaTime;
+        float4 userDelta = (sortedUserData[n] - userDataA) * diffusionSpeed;
+        userDataA += restVolumeB / restVolumeA * userDelta;
+
+        // calculate color field  normal:
+        float radius = (radiiA + radiiB) * 0.5f;
+        float4 vgrad = dir / (dist + EPSILON) * avgGradient;
+        normal += vgrad * radius * restVolumeB;
+    }
+
+    // particles near the surface should experience drag:
+    float4 velocityDiff = velocities[originalIndex] - wind[originalIndex];
+    velocities[originalIndex] -= sortedFluidInterface[i].x * velocityDiff * max(0, 1 - fluidData[i][0] * restVolumeA) * deltaTime;
+
+    // ambient pressure:
+    velocities[originalIndex] += sortedFluidInterface[i].y * normal * deltaTime;
+
+    normals[originalIndex] = normal;
+    userData[originalIndex] = userDataA;
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateSmoothPositions (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int p1 = id.x;
+    if (p1 >= dispatchBuffer[3]) return;
+
+    anisotropies[p1] = FLOAT4X4_ZERO;
+    float4 renderablePositionA = renderablePositions[p1];
+    float radiiA = sortedFluidMaterials[p1].x;
+    float4 avgPosition = float4(renderablePositionA.xyz, 1);//FLOAT4_ZERO;
+    
+    uint count = min(maxNeighbors, neighborCounts[p1]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int p2 = neighbors[maxNeighbors * p1 + j];
+        float4 renderablePositionB = renderablePositions[p2];
+        
+        float dist = length((renderablePositionA - renderablePositionB).xyz);
+
+        float avgKernel = (Poly6(dist,radiiA) + Poly6(dist,sortedFluidMaterials[p2].x)) * 0.5;
+        avgPosition += float4(renderablePositionB.xyz,1) * avgKernel;
+    }
+
+    anisotropies[p1]._m03_m13_m23_m33 = avgPosition / avgPosition.w;
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateAnisotropy (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int p1 = id.x;
+    if (p1 >= dispatchBuffer[3]) return;
+
+    float4x4 anisotropyA = anisotropies[p1];
+    float4 renderablePositionA = renderablePositions[p1];
+    float radiiA = sortedFluidMaterials[p1].x;
+    
+    uint count = min(maxNeighbors, neighborCounts[p1]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int p2 = neighbors[maxNeighbors * p1 + j];
+        float4 renderablePositionB = renderablePositions[p2];
+        
+        float dist = length((renderablePositionA - renderablePositionB).xyz);
+
+        float avgKernel = (Poly6(dist,radiiA) + Poly6(dist,sortedFluidMaterials[p2].x)) * 0.5;
+
+        float4 r = (renderablePositionB - anisotropyA._m03_m13_m23_m33) * avgKernel;
+        anisotropyA += multrnsp4(r, r);
+    }
+
+    anisotropies[p1] = anisotropyA;
+}
+
+[numthreads(128, 1, 1)]
+void AverageAnisotropy (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int o = sortedToOriginal[i];
+
+    if (anisotropies[i]._m00 + anisotropies[i]._m11 + anisotropies[i]._m22 > 0.01f)
+    {
+        float3 singularValues;
+        float3x3 u;
+        EigenSolve((float3x3)anisotropies[i], singularValues, u);
+
+        float maxVal = singularValues[0];
+        float3 s = max(singularValues, maxVal / maxAnisotropy) / maxVal * sortedPrincipalRadii[i].x;
+
+        renderableOrientations[o] = q_look_at(u._m02_m12_m22,u._m01_m11_m21);
+        renderableRadii[o] = float4(s.xyz,1);
+    }
+    else
+    {
+        float radius = sortedPrincipalRadii[i].x / maxAnisotropy;
+        renderableOrientations[o] = QUATERNION_IDENTITY;
+        renderableRadii[o] = float4(radius,radius,radius,1);
+        fluidData[o].x = 1 / pow(abs(radius * 2),3-mode); // normal volume of an isolated particle.
+    }
+    
+    renderablePositions[o] = lerp(renderablePositions[o],anisotropies[i]._m03_m13_m23_m33,min((maxAnisotropy - 1)/3.0f,1));
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta
new file mode 100644
index 00000000..d170b648
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 80856d7c741a940a7bbf0d7d4f472e1d
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute
new file mode 100644
index 00000000..bf507f61
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute
@@ -0,0 +1,69 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> restLengths;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i].x / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float d = length(dist);
+
+    // calculate constraint value:
+    float constraint = d - restLengths[i];
+    constraint -= max(min(constraint, 0), -stiffnesses[i].y);
+
+    // calculate lambda and position deltas:
+    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+    float4 delta = dlambda * dist / (d + EPSILON);
+
+    lambdas[i] += dlambda;
+
+    float4 delta1 = delta * w1;
+    float4 delta2 = -delta * w2;
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2);   
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta
new file mode 100644
index 00000000..8d55c47c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4883886c2cc7740e18f906dcf663c1f1
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute b/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute
new file mode 100644
index 00000000..c28cc0ca
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute
@@ -0,0 +1,212 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+struct DistanceFieldHeader 
+{
+    int firstNode;
+    int nodeCount;
+};
+
+struct DFNode
+{
+    float4 distancesA;
+    float4 distancesB;
+    float4 center;
+    int firstChild;
+
+    // add 12 bytes of padding to ensure correct memory alignment:
+    int pad0;
+    int pad1;
+    int pad2;
+
+    float4 GetNormalizedPos(float4 position)
+    {
+        float4 corner = center - float4(center[3],center[3],center[3],center[3]);
+        return (position - corner) / (center[3] * 2);
+    }
+
+    float4 SampleWithGradient(float4 position)
+    {
+        float4 nPos = GetNormalizedPos(position);
+
+        // trilinear interpolation of distance:
+        float4 x = distancesA + (distancesB - distancesA) * nPos[0];
+        float2 y = x.xy + (x.zw - x.xy) * nPos[1];
+        float dist = y[0] + (y[1] - y[0]) * nPos[2];
+
+        // gradient estimation:
+        // x == 0
+        float2 a = distancesA.xy + (distancesA.zw - distancesA.xy) * nPos[1];
+        float x0 = a[0] + (a[1] - a[0]) * nPos[2];
+
+        // x == 1
+        a = distancesB.xy + (distancesB.zw - distancesB.xy) * nPos[1];
+        float x1 = a[0] + (a[1] - a[0]) * nPos[2];
+
+        // y == 0
+        float y0 = x[0] + (x[1] - x[0]) * nPos[2];
+
+        // y == 1
+        float y1 = x[2] + (x[3] - x[2]) * nPos[2];
+
+        return float4(x1 - x0, y1 - y0, y[1] - y[0], dist);
+
+    }
+
+    int GetOctant(float4 position)
+    {
+        int index = 0;
+        if (position[0] > center[0]) index |= 4;
+        if (position[1] > center[1]) index |= 2;
+        if (position[2] > center[2]) index |= 1;
+        return index;
+    }
+};
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// distance field data:
+StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
+StructuredBuffer<DFNode> dfNodes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+float deltaTime;
+
+struct DistanceField : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
+    StructuredBuffer<DFNode> dfNodes;
+
+    float4 DFTraverse(float4 particlePosition,
+                    in DistanceFieldHeader header)
+    {
+        int stack[12]; 
+        int stackTop = 0;
+
+        stack[stackTop++] = 0;
+
+        while (stackTop > 0)
+        {
+            // pop node index from the stack:
+            int nodeIndex = stack[--stackTop];
+            DFNode node = dfNodes[header.firstNode + nodeIndex];
+
+            // if the child node exists, recurse down the df octree:
+            if (node.firstChild >= 0)
+                stack[stackTop++] = node.firstChild + node.GetOctant(particlePosition);
+            else
+                return node.SampleWithGradient(particlePosition);
+        }
+        return FLOAT4_ZERO;
+    }
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 pnt = colliderToSolver.InverseTransformPoint(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+            
+        float4 sample = DFTraverse(pnt, distanceFieldHeaders[s.dataIndex]);
+        float4 normal = float4(normalize(sample.xyz), 0);
+
+        projectedPoint.pos = colliderToSolver.TransformPoint(pnt - normal * (sample[3] - s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * SDF_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[SDF_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    DistanceFieldHeader header = distanceFieldHeaders[s.dataIndex];
+    
+    DistanceField dfShape;
+    dfShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    dfShape.s = s;
+    dfShape.distanceFieldHeaders = distanceFieldHeaders;
+    dfShape.dfNodes = dfNodes;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint colliderPoint = Optimize(dfShape, positions, orientations, principalRadii,
+                                          simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+    float4 velocity = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+        velocity += velocities[particleIndex] * simplexBary[j];
+    }
+
+    /*float4 rbVelocity = float4.zero;
+    if (rigidbodyIndex >= 0)
+        rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
+        
+    float dAB = dot(simplexPoint - colliderPoint.pos, colliderPoint.normal);
+    float vel = dot(velocity     /*- rbVelocity*/,    colliderPoint.normal);
+
+    //if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+    {
+        uint count = contacts.IncrementCounter();
+        if (count < maxContacts)
+        {
+            contact c = (contact)0;
+           
+            c.pointB = colliderPoint.pos;
+            c.normal = colliderPoint.normal * dfShape.s.isInverted();
+            c.pointA = simplexBary;
+            c.bodyA = simplexIndex;
+            c.bodyB = colliderIndex;
+
+            contacts[count] = c;
+            
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta
new file mode 100644
index 00000000..0f2a1664
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2391a8c719b4c4193a8be38dcf83e8fd
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute b/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute
new file mode 100644
index 00000000..3a9a6fb7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute
@@ -0,0 +1,208 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+struct BIHNode
+{
+    int firstChild;     /**< index of the first child node. The second one is right after the first.*/
+    int start;          /**< index of the first element in this node.*/
+    int count;          /**< amount of elements in this node.*/
+
+    int axis;           /**< axis of the split plane (0,1,2 = x,y,z)*/
+    float min_;         /**< minimum split plane*/
+    float max_;         /**< maximum split plane*/
+};
+
+struct EdgeMeshHeader 
+{
+    int firstNode;
+    int nodeCount;
+    int firstEdge;
+    int edgeCount;
+    int firstVertex;
+    int vertexCount;
+};
+
+struct Edge
+{
+    int i1;
+    int i2;
+    aabb b;
+};
+
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// triangle mesh data:
+StructuredBuffer<EdgeMeshHeader> edgeMeshHeaders;
+StructuredBuffer<BIHNode> edgeBihNodes;
+StructuredBuffer<Edge> edges;
+StructuredBuffer<float2> edgeVertices;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+float deltaTime;
+
+struct EdgeMesh : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    int dataOffset;
+
+    EdgeMeshHeader header;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+       float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        Edge t = edges[header.firstEdge + dataOffset];
+        float4 v1 = (float4(edgeVertices[header.firstVertex + t.i1],0,0) + s.center) * colliderToSolver.scale;
+        float4 v2 = (float4(edgeVertices[header.firstVertex + t.i2],0,0) + s.center) * colliderToSolver.scale;
+
+        float mu = 0;
+        float4 nearestPoint = NearestPointOnEdge(v1, v2, pnt, mu);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+        
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * EDGE_MESH_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[EDGE_MESH_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    EdgeMeshHeader header = edgeMeshHeaders[s.dataIndex];
+    
+    EdgeMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = s;
+    meshShape.header = header;
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+
+        BIHNode node = edgeBihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Edge t = edges[header.firstEdge + dataOffset];
+                float4 v1 = float4(edgeVertices[header.firstVertex + t.i1],0,0) + s.center;
+                float4 v2 = float4(edgeVertices[header.firstVertex + t.i2],0,0) + s.center;
+                aabb edgeBounds;
+                edgeBounds.FromEdge(v1, v2, marginCS);
+
+                if (edgeBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+                    float4 simplexPoint;
+                   
+                    meshShape.dataOffset = dataOffset;
+
+                    SurfacePoint surfacePoint = Optimize(meshShape, positions, orientations, principalRadii,
+                                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+                    float vel = dot(velocity, surfacePoint.normal); 
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = surfacePoint.pos;
+                            c.normal = surfacePoint.normal * meshShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+                            
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta
new file mode 100644
index 00000000..3f9c16b5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 229868ae412914f11bbfa8c3ab9474c8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc b/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc
new file mode 100644
index 00000000..24d1528e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc
@@ -0,0 +1,33 @@
+#ifndef FLUIDCHUNKDEFS_INCLUDE
+#define FLUIDCHUNKDEFS_INCLUDE
+
+#define chunkResolution 4u // amount of voxels in width/height/depth
+
+struct keyvalue
+{
+    uint key;
+    uint handle;
+};
+
+uint3 chunkGridResolution; // height/width/depth of chunk grid
+float3 chunkGridOrigin;
+float voxelSize;
+
+uint maxChunks;
+
+uint VoxelID(uint3 coords)
+{
+    return coords.x + coords.y * chunkGridResolution.x + coords.z * chunkGridResolution.x * chunkGridResolution.y;
+}
+
+uint hash(uint k)
+{
+    k ^= k >> 16;
+    k *= 0x85ebca6b;
+    k ^= k >> 13;
+    k *= 0xc2b2ae35;
+    k ^= k >> 16;
+    return k % maxChunks;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta
new file mode 100644
index 00000000..2f088fd3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: bc0e240276e8a42a2ac5a11368e4f7fa
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute b/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute
new file mode 100644
index 00000000..0eedd8e0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute
@@ -0,0 +1,432 @@
+#pragma kernel SortFluidData
+
+#pragma kernel Emit
+#pragma kernel CopyAliveCount
+#pragma kernel Update
+#pragma kernel Copy
+
+#pragma kernel Sort
+#pragma kernel ClearMesh
+#pragma kernel BuildMesh
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+#include "GridUtils.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "FluidKernels.cginc"
+
+StructuredBuffer<int> sortedToOriginal;
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedVelocities;
+RWStructuredBuffer<quaternion> sortedOrientations;
+RWStructuredBuffer<float4> sortedRadii;
+
+StructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<int> gridHashToSortedIndex; 
+StructuredBuffer<aabb> solverBounds;
+
+StructuredBuffer<uint> fluidSimplices;
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> orientations;
+StructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> angularVelocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterial;
+StructuredBuffer<float4> fluidData;
+
+StructuredBuffer<float4> inputPositions; // w component is distance to camera
+StructuredBuffer<float4> inputVelocities; // w component is buoyancy
+StructuredBuffer<float4> inputColors;     // rgba diffuse color
+StructuredBuffer<float4> inputAttributes; // currentlifetime, maxlifetime, size, drag
+
+RWStructuredBuffer<float4> outputPositions;
+RWStructuredBuffer<float4> outputVelocities;
+RWStructuredBuffer<float4> outputColors;
+RWStructuredBuffer<float4> outputAttributes;
+
+RWStructuredBuffer<uint> dispatch;
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer indices;
+
+// Variables set from the CPU
+uint activeParticleCount;
+uint maxFoamParticles;
+
+float2 vorticityRange;
+float2 velocityRange;
+float foamGenerationRate;
+float potentialIncrease;
+float potentialDiffusion;
+
+float advectionRadius;
+float lifetime;
+float lifetimeRandom;
+float particleSize;
+float buoyancy;
+float drag;
+float airDrag;
+float sizeRandom;
+float isosurface;
+float airAging;
+float3 agingOverPopulation;
+float4 foamColor;
+float4 sortAxis;
+
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex;
+
+float deltaTime;
+
+static const int4 quadrantOffsets[] =
+{
+    int4(0, 0, 0, 1),
+    int4(1, 0, 0, 1),
+    int4(0, 1, 0, 1),
+    int4(1, 1, 0, 1),
+    int4(0, 0, 1, 1),
+    int4(1, 0, 1, 1),
+    int4(0, 1, 1, 1),
+    int4(1, 1, 1, 1)
+};
+
+//https://www.shadertoy.com/view/4djSRW
+float3 hash33(float3 p3)
+{
+    p3 = frac(p3 * float3(.1031, .1030, .0973));
+    p3 += dot(p3, p3.yxz+33.33);
+    return frac((p3.xxy + p3.yxx)*p3.zyx);
+}
+
+float hash13(float3 p3)
+{
+    p3  = frac(p3 * .1031);
+    p3 += dot(p3, p3.zyx + 31.32);
+    return frac((p3.x + p3.y) * p3.z);
+}
+
+void RandomInCylinder(float seed, float4 pos1, float4 pos2, float radius, out float4 position, out float3 velocity)
+{
+    float3 rand = hash33(lerp(pos1.xyz, pos2.xyz, seed));
+
+    float3 v = pos2.xyz - pos1.xyz;
+    float d = length(v);
+    float3 b1 = d > EPSILON ? v / d : v;
+    float3 b2 = normalizesafe(cross(b1, float3(1,0,0)));
+    float3 b3 = cross(b2, b1);
+    
+    float theta = rand.y * 2 * PI;
+    float2 disc = radius * sqrt(rand.x) * float2(cos(theta),sin(theta));
+
+    velocity = b2 * disc.x + b3 * disc.y;
+    position = float4(pos1.xyz + b1 * d * rand.z + velocity,0); 
+}
+
+[numthreads(128, 1, 1)]
+void SortFluidData (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    int original = sortedToOriginal[i];
+    sortedPositions[i] = float4(positions[original].xyz, 1 / fluidData[original].x);
+    sortedVelocities[i] = velocities[original];
+    sortedOrientations[i] = orientations[original];
+    sortedRadii[i] = fluidMaterial[original].x * (principalRadii[original] / principalRadii[original].x); 
+}
+
+[numthreads(128, 1, 1)]
+void Emit (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= activeParticleCount) return;
+
+    int p = activeParticles[i];
+
+    float4 angVel = angularVelocities[p];
+    float2 potential = UnpackFloatRG(angVel.w);
+
+    // calculate fluid potential for foam generation:
+    float vorticityPotential = Remap01(length(angularVelocities[p]), vorticityRange.x, vorticityRange.y); 
+    float velocityPotential = Remap01(length(velocities[p]), velocityRange.x, velocityRange.y);
+    float potentialDelta = velocityPotential * vorticityPotential * deltaTime * potentialIncrease;
+
+    // update foam potential:
+    potential.y = saturate(potential.y * potentialDiffusion + potentialDelta);
+
+    // calculate amount of emitted particles
+    potential.x += foamGenerationRate * potential.y * deltaTime;
+    int emitCount = (int)potential.x;
+    potential.x -= emitCount;
+    
+    for (int j = 0; j < emitCount; ++j)
+    {
+        // atomically increment alive particle counter:
+        uint count;
+        InterlockedAdd(dispatch[3], 1, count);
+
+        if (count < maxFoamParticles)
+        {
+            // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+            float3 radialVelocity;
+            RandomInCylinder(j, positions[p], positions[p] + velocities[p] * deltaTime, principalRadii[p].x, outputPositions[count], radialVelocity);
+            
+            // calculate initial life/size/color:
+            float initialLife = potential.y * (lifetime - hash13(positions[p].xyz) * lifetime * lifetimeRandom);
+            float initialSize = particleSize - hash13(positions[p].xyz + float3(0.51,0.23,0.1)) * particleSize * sizeRandom;
+
+            outputVelocities[count] = velocities[p] + float4(radialVelocity, buoyancy);
+            outputColors[count] = foamColor;
+            outputAttributes[count] = float4(1, 1/initialLife,initialSize,PackFloatRGBA(float4(airAging / 50.0, airDrag, drag, isosurface)));
+        }
+    }
+
+    angVel.w = PackFloatRG(potential);
+    angularVelocities[p] = angVel;
+}
+
+[numthreads(1, 1, 1)]
+void CopyAliveCount (uint3 id : SV_DispatchThreadID)
+{
+    dispatch[0] = dispatch[3] / 128 + 1;
+    dispatch[8] = dispatch[3];
+    dispatch[4] = dispatch[7] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void Update (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= dispatch[8]) return; 
+    
+    uint count;
+    InterlockedAdd(dispatch[3], -1, count);
+    count--;
+
+    if (count < maxFoamParticles && inputAttributes[count].x > 0)
+    {
+        uint aliveCount;
+        InterlockedAdd(dispatch[7], 1, aliveCount);
+        InterlockedMax(dispatch[4],(aliveCount + 1) / 128 + 1);
+
+        float4 attributes = inputAttributes[count];
+        float4 packedData = UnpackFloatRGBA(attributes.w);
+
+        int offsetCount = (mode == 1) ? 4 : 8;
+        float4 advectedVelocity = FLOAT4_ZERO;
+        float kernelSum = -packedData.w;
+        int neighbourCount = 0;
+
+        float4 diffusePos = inputPositions[count];
+
+        for (uint m = 1; m <= levelPopulation[0]; ++m)
+        {
+            uint l = levelPopulation[m];
+            float radius = CellSizeOfLevel(l);
+            float interactionDist = radius * 0.5;
+
+            float4 cellCoords = floor((diffusePos - solverBounds[0].min_) / radius);
+
+            cellCoords[3] = 0;
+            if (mode == 1)
+                cellCoords[2] = 0;
+
+            float4 posInCell = diffusePos - (solverBounds[0].min_ + cellCoords * radius + float4(interactionDist,interactionDist,interactionDist,interactionDist));
+            int4 quadrant = (int4)sign(posInCell);
+            quadrant[3] = l;
+           
+            for (int j = 0; j < offsetCount; ++j)
+            {
+                int4 neighborCoord = (int4)cellCoords + quadrantOffsets[j] * quadrant;
+                int cellIndex = gridHashToSortedIndex[GridHash(neighborCoord)];
+                uint n = cellOffsets[cellIndex]; 
+                uint end = n + cellCounts[cellIndex];
+
+                for (;n < end; ++n)
+                {
+                    uint p = fluidSimplices[n];
+
+                    int4 particleCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz)/ radius).xyz,l);
+                    if (any (particleCoord - neighborCoord))
+                        continue;
+
+                    float4 normal = diffusePos - positions[p];
+                    normal[3] = 0;
+                    if (mode == 1)
+                        normal[2] = 0;
+
+                    float d = length(normal);
+                    if (d <= interactionDist)
+                    {
+                        float3 radii = principalRadii[p].xyz;
+
+                        normal.xyz = rotate_vector(q_conj(orientations[p]), normal.xyz) / radii;
+                        d = length(normal.xyz) * radii.x;
+
+                        // velocities.w is volume (1/normalized density):
+                        float w = positions[p].w * Poly6(d, radii.x);
+
+                        kernelSum += w;
+                        advectedVelocity += velocities[p] * w;
+                        neighbourCount++;
+                    }
+                }
+            }
+        }
+        
+        float4 forces = FLOAT4_ZERO;
+        float velocityScale = 1;
+        float agingScale = 1 + Remap01(dispatch[8] / (float)maxFoamParticles,agingOverPopulation.x,agingOverPopulation.y) * (agingOverPopulation.z - 1);
+
+        // foam/bubble particle:
+        if (kernelSum > EPSILON && neighbourCount > 3)
+        {
+            // advection: 
+            forces = packedData.z / deltaTime * (advectedVelocity / (kernelSum + packedData.w) - inputVelocities[count]);
+
+            // buoyancy:
+            forces -= float4(gravity,0) * inputVelocities[count].w * saturate(kernelSum);
+            
+        }
+        else // spray:
+        { 
+            // gravity:
+            forces += float4(gravity,0);
+
+            // atmospheric drag/aging:
+            velocityScale = packedData.y;
+            agingScale *= packedData.x * 50;
+        }
+
+        // don't change 4th component, as its used to store buoyancy control parameter.
+        forces[3] = 0; 
+        
+        // update particle data:
+        attributes.x -= attributes.y * deltaTime * agingScale;
+        outputAttributes[aliveCount] = attributes;
+        outputColors[aliveCount] = inputColors[count];
+
+        // integrate:
+        outputVelocities[aliveCount] = (inputVelocities[count] + forces * deltaTime) * velocityScale;
+        outputPositions[aliveCount] = float4((inputPositions[count] + outputVelocities[aliveCount] * deltaTime).xyz, neighbourCount);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Copy (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+
+    if (i == 0)
+    {
+        dispatch[0] = dispatch[4];
+        dispatch[3] = dispatch[7];
+    }
+
+    if (i >= dispatch[7]) return;
+
+    outputPositions[i] = inputPositions[i];
+    outputVelocities[i] = inputVelocities[i];
+    outputColors[i] = inputColors[i];
+    outputAttributes[i] = inputAttributes[i];
+}
+
+[numthreads(128,1,1)]
+void Sort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds
+    if (indexRight >= dispatch[3]) return;
+
+    float4 posLeft = inputPositions[indexLeft];
+    float4 posRight = inputPositions[indexRight];
+    float4 velLeft = inputVelocities[indexLeft];
+    float4 velRight = inputVelocities[indexRight];
+    float4 colorLeft = inputColors[indexLeft];
+    float4 colorRight = inputColors[indexRight];
+    float4 attrLeft = inputAttributes[indexLeft];
+    float4 attrRight = inputAttributes[indexRight];
+
+    // calculate distance to camera:
+    float distLeft = dot(posLeft.xyz, sortAxis.xyz);
+    float distRight = dot(posRight.xyz, sortAxis.xyz);
+
+    // Swap entries if order is incorrect
+    if (distLeft < distRight)
+    {
+        outputPositions[indexLeft] = posRight;
+        outputPositions[indexRight] = posLeft;
+        outputVelocities[indexLeft] = velRight;
+        outputVelocities[indexRight] = velLeft;
+        outputColors[indexLeft] = colorRight;
+        outputColors[indexRight] = colorLeft;
+        outputAttributes[indexLeft] = attrRight;
+        outputAttributes[indexRight] = attrLeft;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void ClearMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= maxFoamParticles) return;
+
+    indices.Store((i*6)<<2, 0);
+    indices.Store((i*6+1)<<2, 0);
+    indices.Store((i*6+2)<<2, 0);
+
+    indices.Store((i*6+3)<<2, 0);
+    indices.Store((i*6+4)<<2, 0);
+    indices.Store((i*6+5)<<2, 0);
+}
+
+[numthreads(128, 1, 1)]
+void BuildMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+
+    // <<2 = multiply by 4 to get byte address, since a float/int is 4 bytes in size.
+    
+    // particle data is the same for all 4 vertices:
+    for (uint v = i*4; v < i*4 + 4; ++v)
+    {
+        int base = v*19;
+        
+        // pos
+        vertices.Store4(base<<2, asuint(float4(inputPositions[i].xyz, 1)));
+
+        // color:
+        vertices.Store4((base+7)<<2, asuint( inputColors[i] ));
+        
+        // velocity and attributes
+        vertices.Store4((base+11)<<2, asuint( inputVelocities[i] ));
+        vertices.Store4((base+15)<<2, asuint( inputAttributes[i] ));
+    }
+
+    //different offset for each vertex:
+    int base = i*4;
+    vertices.Store3((base*19 + 4)<<2, asuint(float3(1,1,0)));
+    vertices.Store3(((base+1)*19 + 4)<<2, asuint(float3(-1,1,0)));
+    vertices.Store3(((base+2)*19 + 4)<<2, asuint(float3(-1,-1,0)));
+    vertices.Store3(((base+3)*19 + 4)<<2, asuint(float3(1,-1,0)));
+
+    // indices:
+    indices.Store((i*6)<<2, asuint(i*4+2));
+    indices.Store((i*6+1)<<2, asuint(i*4+1));
+    indices.Store((i*6+2)<<2, asuint(i*4));
+
+    indices.Store((i*6+3)<<2, asuint(i*4+3));
+    indices.Store((i*6+4)<<2, asuint(i*4+2));
+    indices.Store((i*6+5)<<2, asuint(i*4));
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute.meta
new file mode 100644
index 00000000..2fcb5eaf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidFoam.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a8c6735ba651f4c808f068c3b99bca04
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute b/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute
new file mode 100644
index 00000000..7a2a0a65
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute
@@ -0,0 +1,172 @@
+#pragma kernel Clear
+#pragma kernel InsertInGrid
+#pragma kernel SortByGrid
+#pragma kernel ComputeDensity
+#pragma kernel ApplyDensity
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+#include "GridUtils.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "FluidKernels.cginc"
+
+RWStructuredBuffer<int> sortedToOriginal;
+
+RWStructuredBuffer<uint> offsetInCell;
+RWStructuredBuffer<uint> cellStart;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<aabb> solverBounds;
+
+RWStructuredBuffer<float4> inputPositions; 
+RWStructuredBuffer<float4> sortedPositions; 
+RWStructuredBuffer<float4> fluidData; 
+
+StructuredBuffer<uint> dispatch;
+
+// each emitter has its own global radius, not possible to have foam emitters interact with each other.
+float particleRadius;
+float smoothingRadius;
+float surfaceTension; 
+float pressure;
+float invMass;
+
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= maxCells) return;
+    
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellStart[i] = INVALID;
+    cellCounts[i] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void InsertInGrid (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    uint cellIndex = GridHash(floor(inputPositions[i] / smoothingRadius).xyz);
+    InterlockedAdd(cellCounts[cellIndex],1,offsetInCell[i]);
+}
+
+[numthreads(128, 1, 1)]
+void SortByGrid (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    uint cellIndex = GridHash(floor(inputPositions[i] / smoothingRadius).xyz);
+   
+    uint sortedIndex = cellStart[cellIndex] + offsetInCell[i];
+    sortedPositions[sortedIndex] = inputPositions[i];
+    sortedToOriginal[sortedIndex] = i;
+}
+
+[numthreads(128, 1, 1)]
+void ComputeDensity (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+
+    float4 positionA = inputPositions[i];
+
+    int3 cellCoords = floor(inputPositions[i] / smoothingRadius).xyz;
+    
+    // self-contribution:
+    float avgKernel = Poly6(0,smoothingRadius);
+    float restVolume = pow(abs(particleRadius * 2),3-mode);
+    float grad = restVolume * Spiky(0,smoothingRadius);
+    
+    float4 fluidDataA = float4(avgKernel,0,grad,grad*grad);
+    
+    float4 positionB;
+    
+    // iterate over neighborhood, calculate density and gradient.
+    for (int k = 0; k < 27; ++k)
+    {
+        uint cellIndex = GridHash(cellCoords + cellNeighborhood[k].xyz);
+        uint start = cellStart[cellIndex];
+
+        for (uint j = 0; j < cellCounts[cellIndex]; ++j)
+        {
+            positionB = sortedPositions[start + j];
+            float3 r = (positionA - positionB).xyz;
+
+            if (mode == 1) 
+                r[2] = 0;
+
+            float dist = length(r);
+
+            if (dist > smoothingRadius) continue;
+            
+            float grad = restVolume * Spiky(dist,smoothingRadius);
+            fluidDataA += float4(Poly6(dist,smoothingRadius),0,grad,grad*grad);
+        }
+    }
+    
+    // self particle contribution to density and gradient:
+    fluidDataA[3] += fluidDataA[2] * fluidDataA[2];
+    
+    // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+    // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+    // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+    float constraint = max(-0.5f * surfaceTension, fluidDataA[0] * restVolume - 1);
+
+    // calculate lambda:
+    fluidDataA[1] = -constraint / (invMass * fluidDataA[3] + EPSILON);
+    
+    fluidData[i] = fluidDataA;
+}
+
+[numthreads(128, 1, 1)]
+void ApplyDensity (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    int3 cellCoords = floor(inputPositions[i] / smoothingRadius).xyz;
+
+    float restVolume = pow(abs(particleRadius * 2),3-mode); 
+    float4 positionA = inputPositions[i];
+    float4 fluidDataA = fluidData[i];
+
+    float4 fluidDataB;
+    float4 positionB;
+
+    float4 pressureDelta = FLOAT4_ZERO;
+    
+    for (int k = 0; k < 27; ++k)
+    {
+        uint cellIndex = GridHash(cellCoords + cellNeighborhood[k].xyz);
+        uint start = cellStart[cellIndex];
+
+        for (uint j = 0; j < cellCounts[cellIndex]; ++j)
+        {
+            positionB = sortedPositions[start + j];
+            fluidDataB = fluidData[sortedToOriginal[start + j]];
+
+            float4 r = float4((positionA - positionB).xyz,0);
+
+            if (mode == 1) 
+                r[2] = 0;
+
+            float dist = length(r);
+
+            if (dist > smoothingRadius) continue;
+            
+            float wAvg = (0.001f + 0.2f * surfaceTension) * Poly6(dist,smoothingRadius) / Poly6(0,smoothingRadius);
+            float scorrA = - wAvg / (invMass * fluidDataA[3] + EPSILON);
+            float scorrB = - wAvg / (invMass * fluidDataB[3] + EPSILON);
+            pressureDelta += r / (dist + EPSILON) * Spiky(dist,smoothingRadius) * ((fluidDataA[1] + scorrA) + (fluidDataB[1] + scorrB)) * restVolume;
+        }
+    }
+    
+    // write to output positions.
+    inputPositions[i] = positionA + pressure * pressureDelta * invMass;
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta
new file mode 100644
index 00000000..247a584a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2332ee3ce70e9447d8d13b5b67ac8e6c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc b/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc
new file mode 100644
index 00000000..deac8042
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc
@@ -0,0 +1,40 @@
+#ifndef FLUIDKERNELS_INCLUDE
+#define FLUIDKERNELS_INCLUDE
+
+#include "SolverParameters.cginc"
+
+float Poly6(float r, float h)
+{
+    float h2 = h * h;
+    float h4 = h2 * h2;
+    float h8 = h4 * h4;
+
+    float rl = min(r, h);
+    float hr = h2 - rl * rl;
+
+    if (mode)
+       return 4.0f / PI / h8 * hr * hr * hr;
+    else
+       return 315.0f / (64.0 * PI) / (h8 * h) * hr * hr * hr;
+}
+
+float Spiky(float r, float h)
+{
+    float h2 = h * h;
+    float h4 = h2 * h2;
+
+    float rl = min(r, h);
+    float hr = h - rl;
+
+    if (mode)
+        return -30.0f / PI / (h4 * h) * hr * hr;
+    else
+        return  -45.0f / PI / (h4 * h2) * hr * hr;
+}
+
+float Cohesion(float r, float h)
+{
+    return cos(min(r, h) * 3 * PI / (2 * h));
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta
new file mode 100644
index 00000000..5915645b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 53c4eeee7bd2141deb8d1179555a1920
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute b/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute
new file mode 100644
index 00000000..da444b47
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute
@@ -0,0 +1,205 @@
+#pragma kernel ClearChunks
+#pragma kernel ClearGrid
+#pragma kernel InsertChunks
+#pragma kernel SortParticles
+#pragma kernel FindPopulatedLevels
+
+#include "MathUtils.cginc"
+#include "Bounds.cginc"
+#include "GridUtils.cginc"
+#include "FluidChunkDefs.cginc"
+#include "SolverParameters.cginc"
+
+// particle data:
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> angularVelocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterial;
+StructuredBuffer<float4> fluidData;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> colors;
+StructuredBuffer<float4> normals;
+
+RWStructuredBuffer<float4> sortedPositions;   
+RWStructuredBuffer<float4> sortedPrincipalRadii;  
+RWStructuredBuffer<float4> sortedVelocities;  
+RWStructuredBuffer<quaternion> sortedOrientations;   
+RWStructuredBuffer<float4> sortedColors;   
+
+// particle grid data:
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<int> gridHashToSortedIndex; 
+RWStructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+RWStructuredBuffer<uint> offsetInCell;   // for each item, offset within its the cell.
+
+// voxel data:
+RWStructuredBuffer<int3> chunkCoords; // for each chunk, spatial coordinates.
+RWStructuredBuffer<keyvalue> hashtable; // size: maxChunks entries.
+
+RWStructuredBuffer<uint> dispatchBuffer; 
+
+uint firstParticle;
+uint particleCount;
+float isosurface;
+float smoothing;
+
+uint AllocateChunk(uint3 coords)
+{
+    uint key = VoxelID(coords);
+    uint slot = hash(key);
+    
+    [allow_uav_condition]
+    for (uint i = 0; i < maxChunks; ++i) // at most, check the entire table.
+    {
+        uint prev;
+        InterlockedCompareExchange(hashtable[slot].key, INVALID, key, prev);
+
+        // allocate new chunk:
+        if (prev == INVALID) 
+        {
+            InterlockedAdd(dispatchBuffer[4],1,hashtable[slot].handle);
+            chunkCoords[hashtable[slot].handle] = coords;
+            return hashtable[slot].handle;
+        }
+        // could not allocate chunk, since it already exists.
+        else if (prev == key) 
+        {
+            return INVALID;
+        }
+        // collision, try next slot.
+        else 
+            slot = (slot + 1) % maxChunks;
+    }
+    return INVALID; // could not allocate chunk, not enough space.
+}
+
+[numthreads(128, 1, 1)]
+void ClearChunks (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxChunks)
+        return;
+
+    // clear all chunks:
+    keyvalue k;
+    k.key = 0xffffffff;
+    k.handle = 0xffffffff;
+    hashtable[i] = k;
+}
+
+[numthreads(128, 1, 1)]
+void ClearGrid (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxCells)
+        return;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellOffsets[i] = INVALID;
+    cellCounts[i] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void InsertChunks (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+    
+    int p = particleIndices[firstParticle + i];
+
+    // ignore inactive particles:
+    if (principalRadii[p].w <= 0.5f)
+        return;
+    
+    // calculate particle cell index:
+    int level = GridLevelForSize(fluidMaterial[p].x); 
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz) / cellSize),level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    // since cell hashes are morton-sorted during collision detection, here we also get sorted cells
+    // as long as particle cellCoords are reasonably similar
+    // (won't be the exact same since we use renderable positions instead of positions)
+    uint cellIndex = gridHashToSortedIndex[GridHash(cellCoord)];
+   
+    // insert simplex in cell:
+    InterlockedAdd(cellCounts[cellIndex],1, offsetInCell[p]);
+
+     // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+
+    //in 3D, only particles near the surface should spawn chunks:
+    //if (mode == 0 && dot(normals[p],normals[p]) < 0.0001f) 
+        //return;
+
+    // expand aabb by voxel size, since boundary voxels (at a chunks' 0 X/Y/Z) can't be triangulated.
+    float radius = fluidMaterial[p].x + voxelSize;
+
+    // calculate particle chunk span.
+    float chunkSize = chunkResolution * voxelSize;
+    uint3 minCell = floor((positions[p].xyz - radius - chunkGridOrigin) / chunkSize);
+    uint3 maxCell = floor((positions[p].xyz + radius - chunkGridOrigin) / chunkSize);
+
+    if (mode == 1)
+        minCell[2] = maxCell[2] = 0;
+        
+    for (uint x = minCell[0]; x <= maxCell[0]; ++x)
+    {
+        for (uint y = minCell[1]; y <= maxCell[1]; ++y)
+        {
+            for (uint z = minCell[2]; z <= maxCell[2]; ++z)
+            {
+                AllocateChunk(uint3(x, y, z));
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortParticles (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= particleCount) return;
+
+    int p = particleIndices[firstParticle + i];
+
+    // ignore inactive particles:
+    if (principalRadii[p].w <= 0.5f)
+        return;
+
+    // calculate particle cell index:
+    int level = GridLevelForSize(fluidMaterial[p].x);
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz) / cellSize),level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    uint cellIndex = gridHashToSortedIndex[GridHash(cellCoord)];
+    
+    // find final sorted index:
+    uint gridIndex = cellOffsets[cellIndex] + offsetInCell[p];
+
+    // write particle data in sorted order:
+    sortedPositions[gridIndex] = float4(positions[p].xyz, 1 / fluidData[p].x);
+    sortedPrincipalRadii[gridIndex] = fluidMaterial[p].x * (principalRadii[p] / principalRadii[p].x);
+    sortedVelocities[gridIndex] = float4(velocities[p].xyz, (asuint(angularVelocities[p].w) & 0x0000ffff) / 65535.0);
+    sortedOrientations[gridIndex] = orientations[p];
+    sortedColors[gridIndex] = colors[p];
+}
+
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta
new file mode 100644
index 00000000..e70344d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 745eb95f8ca884ea6830b3ca14ee05a0
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute b/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute
new file mode 100644
index 00000000..d4e04809
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute
@@ -0,0 +1,604 @@
+#pragma kernel SampleSDF
+#pragma kernel CalculateSurface
+#pragma kernel Triangulate
+#pragma kernel Smoothing
+
+#pragma kernel FixArgsBuffer
+#pragma kernel FillIndirectDrawBuffer
+
+#include "MathUtils.cginc"
+#include "Bounds.cginc"
+#include "GridUtils.cginc"
+#include "FluidChunkDefs.cginc"
+#include "FluidKernels.cginc"
+#include "SolverParameters.cginc"
+#include "NormalCompression.cginc"
+
+/*  
+ *  y         z
+ *  ^        /     
+ *  |
+ *    6----7
+ *   /|   /|
+ *  2----3 |
+ *  | 4--|-5
+ *  |/   |/
+ *  0----1   --> x
+ * 
+ */
+
+ /*
+ *  static Vector2Int[] cubeEdges =
+ *  {
+ *      new Vector2Int(7,3),  0
+ *      new Vector2Int(7,5),  1
+ *      new Vector2Int(7,6),  2
+ *
+ *      new Vector2Int(6,4),  3 // x 
+ *      new Vector2Int(4,5),  4
+ *      new Vector2Int(5,1),  5     
+ *
+ *      new Vector2Int(1,3),  6 // y   
+ *      new Vector2Int(3,2),  7    
+ *      new Vector2Int(2,6),  8    
+ *
+ *      new Vector2Int(4,0),  9 // z   
+ *      new Vector2Int(2,0),  10  
+ *      new Vector2Int(1,0)   11   
+ *  };
+ */
+ 
+static const int4 faceNeighborEdges[] =
+{
+    int4(0,1,5,6),    
+    int4(0,2,7,8),    
+    int4(4,5,9,11), 
+    int4(3,8,9,10),
+    int4(6,7,10,11),  
+    int4(1,2,3,4)
+};
+
+static const float3 corners[] =
+{
+    float3(0, 0, 0), // 0
+    float3(1, 0, 0), // 1
+    float3(0, 1, 0), // 2
+    float3(1, 1, 0), // 3
+    float3(0, 0, 1), // 4
+    float3(1, 0, 1), // 5
+    float3(0, 1, 1), // 6
+    float3(1, 1, 1)  // 7
+};
+
+static const int3 quadNeighborIndices[] =
+{
+    int3(1, 3, 2), // x   
+    int3(4, 5, 1), // y   
+    int3(2, 6, 4), // z  
+};
+
+static const int oppositeFaces[] =
+{
+    7, //0
+    6, //1
+    5, //2
+    4, //3
+    3, //4
+    2, //5
+    1 //6
+};
+
+static const int3 quadWindingOrder[] = {
+    int3(0, 1 ,2),
+    int3(2, 1 ,0)
+};
+
+struct indirectDrawIndexedArgs
+{
+    uint indexCountPerInstance;
+    uint instanceCount;
+    uint startIndex;
+    uint baseVertexIndex;
+    uint startInstance;
+};
+
+// particle grid data:
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<int> gridHashToSortedIndex; 
+
+StructuredBuffer<float4> sortedPositions;
+StructuredBuffer<float4> sortedVelocities;
+StructuredBuffer<float4> sortedPrincipalRadii;
+StructuredBuffer<float4> sortedColors;
+StructuredBuffer<quaternion> sortedOrientations;
+
+// voxel data:
+StructuredBuffer<int3> chunkCoords; // for each chunk, spatial coordinates.
+StructuredBuffer<keyvalue> hashtable; // size: maxChunks entries.
+RWStructuredBuffer<uint> voxelToVertex; // for each voxel, index into the vertices array in case the voxel spawns a vertex, INVALID otherwise.
+RWStructuredBuffer<uint> vertexAdjacency; // indices of adjacent face voxels for each voxel.
+RWStructuredBuffer<float4> voxelVelocities; // for each voxel, fluid velocity value. We are reusing the same ComputeBuffer used for vertexAdjacency.
+
+// edge LUTs
+StructuredBuffer<int2> edges;
+StructuredBuffer<int> edgeTable;
+
+// mesh data:
+RWStructuredBuffer<float4> verts; 
+RWStructuredBuffer<float4> outputVerts;
+RWStructuredBuffer<float4> colors; 
+RWStructuredBuffer<float4> velocities; 
+RWStructuredBuffer<int> quads;
+
+RWStructuredBuffer<uint> dispatchBuffer; 
+RWStructuredBuffer<uint> dispatchBuffer2; 
+RWStructuredBuffer<indirectDrawIndexedArgs> indirectBuffer; 
+
+uint currentBatch;
+
+float isosurface;
+uint descentIterations;
+float descentIsosurface;
+float descentSpeed;
+float smoothing;
+float bevel;
+uint dispatchMultiplier;
+uint countMultiplier;
+uint instanceCount;
+
+uint voxelCoordToOffset(int3 coord)
+{
+    if (mode == 1)
+        return (int)EncodeMorton2((uint2)coord.xy);
+    else return (int)EncodeMorton3((uint3)coord.xyz);
+}
+
+uint LookupChunk(int3 coords)
+{
+    uint key = VoxelID(coords);
+    uint slot = hash(key);
+
+    for (uint i = 0; i < maxChunks; ++i) // at most, check the entire table.
+    {
+        if (hashtable[slot].key == key)
+        {
+            return hashtable[slot].handle;
+        }
+        if (hashtable[slot].key == INVALID)
+        {
+            return INVALID;
+        }
+
+        slot = (slot + 1) % maxChunks;
+    }
+    return INVALID;
+}
+
+uint GetVoxelIndex(int3 chunkCoords, int3 voxelCoords, int voxelsInChunk)
+{
+    int3 mask = voxelCoords < 0 ? -1 : voxelCoords / chunkResolution; 
+    uint chunk = LookupChunk(chunkCoords + mask);
+   
+    return chunk == INVALID ? INVALID : chunk * voxelsInChunk + voxelCoordToOffset(nfmod(voxelCoords, chunkResolution));
+}
+
+[numthreads(128, 1, 1)]
+void SampleSDF (uint3 id : SV_DispatchThreadID)  // one thread per voxel,
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+
+    // calculate chunk index:
+    int chunkIndex = i / voxelsInChunk;   
+
+    // get offset of voxel within chunk:
+    int cornerOffset = i - chunkIndex * voxelsInChunk;
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)cornerOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)cornerOffset);
+
+    int3 cornerCoords= chunkCoords[chunkIndex] * chunkResolution + voxelCoords;
+
+    // calculate sampling position:
+    float3 samplePos = chunkGridOrigin + cornerCoords * voxelSize;
+    
+    float dist = isosurface;
+    float4 color = FLOAT4_ZERO;
+    float4 velocity = FLOAT4_ZERO;
+
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int3 cell = floor((samplePos - solverBounds[0].min_.xyz) / cellSize); // TODO: not necessary to subtract solverBounds?
+        int3 minCell = cell - 1;
+        int3 maxCell = cell + 1;
+
+        if (mode == 1)
+            minCell[2] = maxCell[2] = 0;
+       
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    int4 neighborCoord = int4(x, y, z, l);
+                    int cellIndex = gridHashToSortedIndex[GridHash(neighborCoord)];
+                    uint n = cellOffsets[cellIndex]; 
+                    uint end = n + cellCounts[cellIndex];
+
+                    for (;n < end; ++n)
+                    {
+                        float3 radii = sortedPrincipalRadii[n].xyz;
+
+                        // due to hash collisions, two neighboring cells might map to the same
+                        // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                        // So we only consider particles that have the same spatial coordinates as the cell.
+                        uint level = GridLevelForSize(radii.x);
+                        float cellSize = CellSizeOfLevel(level);
+                        int4 particleCoord = int4(floor((sortedPositions[n].xyz - solverBounds[0].min_.xyz)/ cellSize).xyz,level);
+
+                        if (any (particleCoord - neighborCoord))
+                            continue;
+
+                        float3 normal = samplePos - sortedPositions[n].xyz;  
+                        if (mode == 1)
+                            normal[2] = 0;
+
+                        // only update distance if within anisotropic kernel radius:
+                        float maxDistance = radii.x + voxelSize * 1.42f; 
+                        float r = dot(normal, normal);
+                        if (r <= maxDistance * maxDistance)
+                        {
+                            normal = rotate_vector(q_conj(sortedOrientations[n]), normal.xyz) / radii;
+                            float d = length(normal) * radii.x;
+
+                            // sortedPositions.w is volume (1/normalized density):
+                            float w = sortedPositions[n].w * Poly6(d,radii.x);
+                            
+                            dist -= w;
+                            
+                            // tigther smoothing kernel for color and velocities:
+                            float w2 = 1-saturate(r / (radii.x * radii.x));
+                            color += float4(sortedColors[n].xyz * w2, w2);
+                            velocity += sortedVelocities[n] * w2; // 4th component is length(angularVel), vorticity intensity.
+                        }
+                        
+                    }
+                }
+            }
+        }
+    }
+    
+    verts[i].x = dist;
+    verts[i].y = PackFloatRGBA(color/color.w);
+
+    voxelVelocities[i] = velocity / color.w;
+}
+
+float EvaluateSDF (float4 distancesA, float4 distancesB, in float3 nPos, out float3 normal)
+{
+    // trilinear interpolation of distance:
+    float4 x = distancesA + (distancesB - distancesA) * nPos[0];
+    float2 y = x.xy + (x.zw - x.xy) * nPos[1];
+
+    // gradient estimation:
+    // x == 0
+    float2 a = distancesA.xy + (distancesA.zw - distancesA.xy) * nPos[1];
+    float x0 = a[0] + (a[1] - a[0]) * nPos[2];
+
+    // x == 1
+    a = distancesB.xy + (distancesB.zw - distancesB.xy) * nPos[1];
+    float x1 = a[0] + (a[1] - a[0]) * nPos[2];
+
+    // y == 0
+    float y0 = x[0] + (x[1] - x[0]) * nPos[2];
+
+    // y == 1
+    float y1 = x[2] + (x[3] - x[2]) * nPos[2];
+
+    normal = normalize(float3(x1 - x0, y1 - y0, y[1] - y[0]));
+    return y[0] + (y[1] - y[0]) * nPos[2];
+}
+
+[numthreads(128, 1, 1)]
+void CalculateSurface (uint3 id : SV_DispatchThreadID) // once per voxel.
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+    int verticesPerVoxel = mode == 1 ? 4 : 8; // 8 vertices in 3D, 4 in 2D.
+    float3 dimensionMask = mode == 1 ? float3(1, 1, 0) : float3(1, 1, 1);
+    int edgeCount = mode == 1 ? 4 : 12;
+
+    // initialize voxel with invalid vertex:
+    voxelToVertex[i] = INVALID;
+
+    // calculate chunk index:
+    int chunkIndex = i / voxelsInChunk;   
+    
+    // get offset of voxel within chunk:
+    int voxelOffset = i - chunkIndex * voxelsInChunk; 
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)voxelOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)voxelOffset);
+   
+    // get samples at voxel corners:
+    float samples[8];
+    float4 vcolor[8];
+    float4 vvelo[8];
+    uint cornerMask = 0;
+
+    // initialize all samples to zero (last 4 samples aren't written to in 2D).
+    int j = 0;
+    for (j = 0; j < 8; ++j)
+        samples[j] = 0;
+
+    for (j = 0; j < verticesPerVoxel; ++j)
+    {
+        uint v = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + corners[j], voxelsInChunk);
+
+        if (v == INVALID)
+            return;
+        else
+        {
+            samples[j] = verts[v].x;
+            vcolor[j] = UnpackFloatRGBA(verts[v].y);
+            vvelo[j] = voxelVelocities[v];
+            cornerMask |= samples[j] >= 0 ? (1 << j) : 0;
+        }
+    }
+
+    // store cornerMask:
+    verts[i].z = asfloat(cornerMask);
+
+    int edgeMask = edgeTable[cornerMask];
+
+    // if the voxel does not intersect the surface, return:
+    if ((mode == 1 && cornerMask == 0xf) ||
+        (mode == 0 && edgeMask == 0))
+        return;
+
+    // calculate vertex position using edge crossings:
+    float3 normalizedPos = float3(0,0,0);
+    float4 velocity = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    int intersections = 0;
+    
+    for (j = 0; j < edgeCount; ++j)
+    {
+        if((edgeMask & (1 << j)) == 0) 
+            continue;
+           
+        int2 e = edges[j];
+        float t = -samples[e.x] / (samples[e.y] - samples[e.x]);
+
+        normalizedPos += lerp(corners[e.x],corners[e.y],t);
+        color +=         lerp(vcolor[e.x], vcolor[e.y], t);
+        velocity +=      lerp(vvelo[e.x],  vvelo[e.y],  t);
+        intersections++;
+    }
+
+    // intersections will always be > 0 in 3D:
+    if (intersections > 0)
+    {
+        normalizedPos /= intersections;
+        color /= intersections;
+        velocity /= intersections;
+    }
+    else
+    {
+        normalizedPos = float3(0.5f, 0.5f, -bevel);
+        color = (vcolor[0] + vcolor[1] + vcolor[2] + vcolor[3]) * 0.25f;
+        velocity = (vvelo[0] + vvelo[1] + vvelo[2] + vvelo[3]) * 0.25f;
+    }
+
+    float4 distancesA = float4(samples[0], samples[4], samples[2], samples[6]);
+    float4 distancesB = float4(samples[1], samples[5], samples[3], samples[7]);
+    
+    // gradient descent:
+    float3 normal;
+    for(uint k = 0; k < descentIterations; ++k)
+    {
+        float d = EvaluateSDF(distancesA, distancesB, normalizedPos, normal);
+        normalizedPos -= descentSpeed * normal * (d + isosurface + descentIsosurface);
+    }
+    
+    // final normal evaluation:
+    EvaluateSDF(distancesA, distancesB, normalizedPos, normal);
+
+    // modify normal in 2D mode:
+    if (mode)
+       normal = lerp(float3(0,0,-1),float3(normal.xy,-normal.z),bevel); // no bevel, flat normals
+
+    // Append vertex:
+    InterlockedAdd(dispatchBuffer[4],1,voxelToVertex[i]);
+    verts[voxelToVertex[i]].w = i;
+
+    float3 voxelCorner = chunkGridOrigin + (float3)(chunkCoords[chunkIndex] * chunkResolution + voxelCoords) * voxelSize;
+    outputVerts[voxelToVertex[i]] = float4(voxelCorner * dimensionMask + normalizedPos * voxelSize, encode(normal));
+    colors[voxelToVertex[i]] = color;
+    velocities[voxelToVertex[i]] = velocity;
+}
+
+[numthreads(128, 1, 1)]
+void Triangulate (uint3 id : SV_DispatchThreadID) 
+{
+    uint v0 = id.x;
+    if (v0 >= dispatchBuffer[3]) return;
+
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+    int quadCount = 3 - mode * 2; // 3 quads in 3D, 1 in 2D.
+    int adjacentCount = 6 - mode * 2; // 6 adjacent voxels in 3D, 4 in 2D.
+    
+    // get index of the voxel that spawned this vertex:
+    uint i = verts[v0].w;
+        
+    // calculate chunk index and look up coordinates:
+    int chunkIndex = i / voxelsInChunk;        
+    
+    // get offset of voxel within chunk:
+    int voxelOffset = i - chunkIndex * voxelsInChunk;
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)voxelOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)voxelOffset);
+
+    uint cornerMask = asuint(verts[i].z);
+    int edgeMask = edgeTable[cornerMask];
+    
+    // get winding order using last bit of cornermask, which indicates corner sign:
+    // in 2D, cornerMask >> 7 is always 0, so we get the second winding order.
+    int3 windingOrder = (cornerMask >> 7) ? quadWindingOrder[0] : quadWindingOrder[1];
+    
+    // Retrieve adjacent voxels:
+    int j;
+    uint adjacent[6];
+    for (j = 0; j < adjacentCount; ++j)
+        adjacent[j] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + corners[j + 1], voxelsInChunk);
+        
+    // Iterate over all potential quads, append those needed:
+    for (j = 0; j < quadCount; ++j)
+    {
+        // if the edge is not crossing the surface, skip it (3D only)
+        if (mode == 0 && (edgeMask & (1 << j)) == 0)
+            continue;
+
+        // calculate final neighbor indices:
+        uint3 neighbors = uint3(quadNeighborIndices[j][windingOrder[0]]-1,
+                                quadNeighborIndices[j][windingOrder[1]]-1,
+                                quadNeighborIndices[j][windingOrder[2]]-1);
+
+        // get vertex indices for all voxels involved: 
+        uint v1 = voxelToVertex[adjacent[neighbors[0]]];
+        uint v2 = voxelToVertex[adjacent[neighbors[1]]];
+        uint v3 = voxelToVertex[adjacent[neighbors[2]]];
+
+        // if any of the vertices is invalid, skip the quad:
+        if (v1 == INVALID || v2 == INVALID || v3 == INVALID)
+            continue;
+
+        // append a new quad:
+        uint baseIndex;
+        InterlockedAdd(dispatchBuffer2[4],1,baseIndex);
+        baseIndex *= 6;
+
+        // flip edge if necessary, to always use the shortest diagonal:
+        float3 diag1 = outputVerts[v0].xyz - outputVerts[v2].xyz;
+        float3 diag2 = outputVerts[v1].xyz - outputVerts[v3].xyz;
+        if (dot(diag1,diag1) > dot(diag2,diag2) * 1.1)
+        {
+            quads[baseIndex] = v1;
+            quads[baseIndex+1] = v2;
+            quads[baseIndex+2] = v3;
+
+            quads[baseIndex+3] = v0;
+            quads[baseIndex+4] = v1;
+            quads[baseIndex+5] = v3;
+        }
+        else
+        {
+            quads[baseIndex] = v0;
+            quads[baseIndex+1] = v1;
+            quads[baseIndex+2] = v2;
+
+            quads[baseIndex+3] = v3;
+            quads[baseIndex+4] = v0;
+            quads[baseIndex+5] = v2;
+        }
+    }
+    
+    // Move adjacent voxel in Z axis to last position, so that 2D adjacent voxels are the first 4.
+    adjacent[5] = adjacent[3];
+    adjacent[2] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(0, -1, 0), voxelsInChunk);
+    adjacent[3] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(-1, 0, 0), voxelsInChunk);
+    adjacent[4] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(0, 0, -1), voxelsInChunk);
+    
+    // initialize vertex adjacency to INVALID.
+    for (j = 0; j < 6; ++j)
+        vertexAdjacency[v0*6 + j] = INVALID;
+
+    // Determine adjacent surface voxels for smoothing:
+    bool isAdjacent;
+    for (j = 0; j < adjacentCount; ++j)
+    {
+        if (adjacent[j] != INVALID)
+        {
+            // adjacent if this does not intersect the surface or both intersect the surface.
+            isAdjacent = (edgeMask == 0 || edgeTable[asuint(verts[adjacent[j]].z)] != 0) &&
+
+            // in 3D mode, it should also intersect any of the face edges to be considered adjacent:
+                         (mode == 1 || any(edgeMask & (1 << faceNeighborEdges[j])));
+
+            vertexAdjacency[v0 * 6 + j] = isAdjacent ? voxelToVertex[adjacent[j]] : INVALID;
+        }
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void Smoothing (uint3 id : SV_DispatchThreadID) 
+{
+    uint thread = id.x;
+    if (thread >= dispatchBuffer[3]) return;
+    
+    float3 n = decode(verts[thread].w);
+
+    float4 coord = float4(verts[thread].xyz,1);
+    float4 norm = float4(n,1);
+
+    for (int j = 0; j < 6; ++j)
+    {
+        uint v = vertexAdjacency[thread*6 + j];
+        if (v != INVALID)
+        {
+            coord += float4(verts[v].xyz,1);
+            norm += float4(decode(verts[v].w),1);
+        }
+    }
+    
+    coord.xyz /= coord.w;
+    norm.xyz /= norm.w;
+
+    float3 v = lerp(verts[thread].xyz, coord.xyz, smoothing);
+    n = normalize(lerp(n,norm.xyz, smoothing));
+
+    outputVerts[thread] = float4(v, encode(n));
+
+} 
+
+[numthreads(1, 1, 1)]
+void FixArgsBuffer (uint3 id : SV_DispatchThreadID) 
+{
+    dispatchBuffer[3] = dispatchBuffer[4] * dispatchMultiplier; 
+    dispatchBuffer[0] = dispatchBuffer[3] / 128 + 1;
+    dispatchBuffer[4] *= countMultiplier; // used to zero out fourth component if needed.
+}
+
+[numthreads(1, 1, 1)]
+void FillIndirectDrawBuffer (uint3 id : SV_DispatchThreadID) 
+{
+    indirectDrawIndexedArgs a;
+
+    a.indexCountPerInstance = dispatchBuffer[3] * 6; // number of quads * 6
+    a.instanceCount = instanceCount;
+    a.startIndex = 0; 
+    a.baseVertexIndex = 0;
+    a.startInstance = 0;
+    indirectBuffer[0] = a;
+}
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta
new file mode 100644
index 00000000..67121ca8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 676e30b71ac3147969895b3f0ad6d2ec
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc b/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc
new file mode 100644
index 00000000..c17c5ac6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc
@@ -0,0 +1,166 @@
+#ifndef GRIDUTILS_INCLUDE
+#define GRIDUTILS_INCLUDE
+
+#define INVALID 0xFFFFFFFF
+#define MIN_GRID_LEVEL -6 // minimum cell size is 0.01 meters, enough for very small colliders / particles (log(0.01) / log(2))
+#define MAX_GRID_LEVEL 17 // maximum cell size is 131072 meters, enough for gargantuan objects.
+#define GRID_LEVELS (MAX_GRID_LEVEL - MIN_GRID_LEVEL + 1)
+
+RWStructuredBuffer<uint> levelPopulation; 
+uint maxCells;         // maximum number of unique cells in the grid. 
+
+static const float4 cellNeighborhood[27] = {
+float4(-1,-1,-1, 0),
+float4(-1,-1, 0, 0),
+float4(-1,-1, 1, 0),
+float4(-1, 0,-1, 0),
+float4(-1, 0, 0, 0),
+float4(-1, 0, 1, 0),
+float4(-1, 1,-1, 0),
+float4(-1, 1, 0, 0),
+float4(-1, 1, 1, 0),
+float4( 0,-1,-1, 0),
+float4( 0,-1, 0, 0),
+float4( 0,-1, 1, 0),
+float4( 0, 0,-1, 0),
+float4( 0, 0, 0, 0),
+float4( 0, 0, 1, 0),
+float4( 0, 1,-1, 0),
+float4( 0, 1, 0, 0),
+float4( 0, 1, 1, 0),
+float4( 1,-1,-1, 0),
+float4( 1,-1, 0, 0),
+float4( 1,-1, 1, 0),
+float4( 1, 0,-1, 0),
+float4( 1, 0, 0, 0),
+float4( 1, 0, 1, 0),
+float4( 1, 1,-1, 0),
+float4( 1, 1, 0, 0),
+float4( 1, 1, 1, 0),
+};
+
+static const float4 aheadCellNeighborhood[13] = {
+float4(1,0,0,0),    // + , 0 , 0 ( 1)
+float4(0,1,0,0),    // 0 , + , 0 ( 3)
+float4(1,1,0,0),    // + , + , 0 ( 4)
+float4(0,0,1,0),    // 0 , 0 , + ( 9)
+float4(1,0,1,0),    // + , 0 , + (10)
+float4(0,1,1,0),    // 0 , + , + (12)
+float4(1,1,1,0),     // + , + , + (13)
+
+float4(-1,1,0,0),   // - , + , 0 ( 2)
+float4(-1,-1,1,0),  // - , - , + ( 5)
+float4(0,-1,1,0),   // 0 , - , + ( 6)
+float4(1,-1,1,0),   // + , - , + ( 7)
+float4(-1,0,1,0),   // - , 0 , + ( 8)
+float4(-1,1,1,0),   // - , + , + (11)
+};
+
+[numthreads(1,1,1)]
+void FindPopulatedLevels (uint3 id : SV_DispatchThreadID) 
+{
+    for (int l = 1; l <= GRID_LEVELS; ++l)
+    {
+        if (levelPopulation[l] > 0)
+            levelPopulation[1 + levelPopulation[0]++] = l - 1;
+    }
+}
+
+inline int GridLevelForSize(float size)
+{
+    // the magic number is 1/log(2), used because log_a(x) = log_b(x) / log_b(a)
+    // level is clamped between MIN_LEVEL and MAX_LEVEL, then remapped to (0, MAX_LEVEL - MIN_LEVEL)
+    // this allows us to avoid InterlockedMax issues on GPU, since it doesn't work on negative numbers on some APIs.
+    return clamp((int)ceil(log(size) * 1.44269504089), MIN_GRID_LEVEL, MAX_GRID_LEVEL) - MIN_GRID_LEVEL;
+}
+
+inline float CellSizeOfLevel(int level)
+{
+    return exp2(level + MIN_GRID_LEVEL);
+}
+
+inline int4 GetParentCellCoords(int4 cellCoords, uint level)
+{
+    float decimation = exp2(level - cellCoords[3]);
+    int4 cell = (int4)floor((float4)cellCoords / decimation);
+    cell[3] = level;
+    return cell;
+}
+
+uint Part1By1(uint x)
+{
+    x &= 0x0000ffff;                  // x = ---- ---- ---- ---- fedc ba98 7654 3210
+    x = (x ^ (x << 8)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+    x = (x ^ (x << 4)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+    x = (x ^ (x << 2)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+    x = (x ^ (x << 1)) & 0x55555555; // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+    return x;
+}
+
+// "Insert" two 0 bits after each of the 10 low bits of x
+uint Part1By2(uint x)
+{
+    x &= 0x000003ff;                  // x = ---- ---- ---- ---- ---- --98 7654 3210
+    x = (x ^ (x << 16)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+    x = (x ^ (x << 8)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+    x = (x ^ (x << 4)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+    x = (x ^ (x << 2)) & 0x09249249; // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+    return x;
+}
+
+uint Compact1By1(uint x)
+{
+    x &= 0x55555555;                  // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+    x = (x ^ (x >> 1)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+    x = (x ^ (x >> 2)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+    x = (x ^ (x >> 4)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+    x = (x ^ (x >> 8)) & 0x0000ffff; // x = ---- ---- ---- ---- fedc ba98 7654 3210
+    return x;
+}
+
+uint Compact1By2(uint x)
+{
+    x &= 0x09249249;                  // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+    x = (x ^ (x >> 2)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+    x = (x ^ (x >> 4)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+    x = (x ^ (x >> 8)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+    x = (x ^ (x >> 16)) & 0x000003ff; // x = ---- ---- ---- ---- ---- --98 7654 3210
+    return x;
+}
+   
+inline uint EncodeMorton2(uint2 coords)
+{
+    return (Part1By1(coords.y) << 1) + Part1By1(coords.x);
+}
+
+inline uint EncodeMorton3(uint3 coords)
+{
+    return (Part1By2(coords.z) << 2) + (Part1By2(coords.y) << 1) + Part1By2(coords.x);
+}
+
+inline uint3 DecodeMorton2(uint code)
+{
+    return uint3(Compact1By1(code >> 0), Compact1By1(code >> 1), 0);
+}
+
+inline uint3 DecodeMorton3(uint code)
+{
+    return uint3(Compact1By2(code >> 0), Compact1By2(code >> 1), Compact1By2(code >> 2));
+}
+
+inline uint GridHash(in int4 cellIndex)
+{
+  return (73856093*cellIndex.x ^ 
+          19349663*cellIndex.y ^ 
+          83492791*cellIndex.z ^ 
+          10380569*cellIndex.w) % maxCells;
+}
+
+inline uint GridHash(in int3 cellIndex)
+{
+  return (73856093*cellIndex.x ^ 
+          19349663*cellIndex.y ^ 
+          83492791*cellIndex.z) % maxCells;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc.meta
new file mode 100644
index 00000000..be067e28
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/GridUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b4dbf43981a3b419fbc2eaf5f2c05a6c
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute b/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute
new file mode 100644
index 00000000..e286ce6f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute
@@ -0,0 +1,230 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+struct HeightFieldHeader
+{
+    int firstSample;
+    int sampleCount;
+};
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// heightfield data:
+StructuredBuffer<HeightFieldHeader> heightFieldHeaders;
+StructuredBuffer<float> heightFieldSamples;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+float deltaTime;
+
+struct Heightfield : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+
+    CachedTri tri;
+    float4 triNormal;
+
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 pnt = colliderToSolver.InverseTransformPoint(pos);
+
+        float4 bary;
+        float4 nearestPoint = NearestPointOnTri(tri, pnt, bary);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+
+        // flip the contact normal if it points below ground: (doesn't work with holes)
+        //OneSidedNormal(triNormal, normal);
+
+        projectedPoint.pos = colliderToSolver.TransformPoint(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * HEIGHTMAP_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[HEIGHTMAP_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    HeightFieldHeader header = heightFieldHeaders[s.dataIndex];
+    
+    Heightfield fieldShape;
+    fieldShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    fieldShape.s = s;
+    
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(fieldShape.colliderToSolver.translation.xyz, fieldShape.colliderToSolver.rotation, fieldShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int resolutionU = (int)s.center.x;
+    int resolutionV = (int)s.center.y;
+
+    // calculate terrain cell size:
+    float cellWidth = s.size.x / (resolutionU - 1);
+    float cellHeight = s.size.z / (resolutionV - 1);
+
+    // calculate particle bounds min/max cells:
+    int2 min_ = int2((int)floor(simplexBound.min_[0] / cellWidth), (int)floor(simplexBound.min_[2] / cellHeight));
+    int2 max_ = int2((int)floor(simplexBound.max_[0] / cellWidth), (int)floor(simplexBound.max_[2] / 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 = clamp(su + 1, 0, resolutionU - 1);
+                    int csv1 = clamp(sv + 1, 0, resolutionV - 1);
+
+                    // sample heights:
+                    float h1 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * s.size.y;
+                    float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * s.size.y;
+                    float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * s.size.y;
+                    float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * s.size.y;
+
+                    if (h1 < 0) continue;
+                    h1 = abs(h1);
+                    h2 = abs(h2);
+                    h3 = abs(h3);
+                    h4 = abs(h4);
+
+                    float min_x = su * s.size.x / (resolutionU - 1);
+                    float max_x = csu1 * s.size.x / (resolutionU - 1);
+                    float min_z = sv * s.size.z / (resolutionV - 1);
+                    float max_z = csv1 * s.size.z / (resolutionV - 1);
+
+                    float4 convexPoint;
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+
+                    // ------contact against the first triangle------:
+                    float4 v1 = float4(min_x, h3, max_z, 0);
+                    float4 v2 = float4(max_x, h4, max_z, 0);
+                    float4 v3 = float4(min_x, h1, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                    SurfacePoint colliderPoint = Optimize(fieldShape, positions, orientations, principalRadii,
+                                                          simplices, simplexStart, simplexSize, simplexBary, convexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    int j;
+                    for (j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    float dAB = dot(convexPoint - colliderPoint.pos, colliderPoint.normal);
+                    float vel = dot(velocity, colliderPoint.normal);
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = colliderPoint.pos;
+                            c.normal = colliderPoint.normal * fieldShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+
+                    // ------contact against the second triangle------:
+                    v1 = float4(min_x, h1, min_z, 0);
+                    v2 = float4(max_x, h4, max_z, 0);
+                    v3 = float4(max_x, h2, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                    colliderPoint = Optimize(fieldShape, positions, orientations, principalRadii,
+                                    simplices, simplexStart, simplexSize, simplexBary, convexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    velocity = FLOAT4_ZERO;
+                    simplexRadius = 0;
+                    for (j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    dAB = dot(convexPoint - colliderPoint.pos, colliderPoint.normal);
+                    vel = dot(velocity, colliderPoint.normal);
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = colliderPoint.pos;
+                            c.normal = colliderPoint.normal * fieldShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta
new file mode 100644
index 00000000..a04ea626
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d9efd384bb82b4ec0b0adf1fc349a89b
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc b/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc
new file mode 100644
index 00000000..3a30c9c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc
@@ -0,0 +1,18 @@
+#ifndef INERTIALFRAME_INCLUDE
+#define INERTIALFRAME_INCLUDE
+
+#include "Transform.cginc"
+
+struct inertialFrame
+{
+    transform frame;
+    transform prevFrame;
+
+    float4 velocity;
+    float4 angularVelocity;
+
+    float4 acceleration;
+    float4 angularAcceleration;
+};
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta
new file mode 100644
index 00000000..ed4916d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 2d21eb1b3353a439eb5f6f6df05dd6d0
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute
new file mode 100644
index 00000000..b07c7bc8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute
@@ -0,0 +1,44 @@
+#pragma kernel UpdateParticleInstances
+
+#include "PathFrame.cginc"
+
+struct RendererData
+{
+    float4 color;
+    float radiusScale;
+};
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<RendererData> rendererData;
+StructuredBuffer<int> rendererIndex;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> renderableRadii;
+StructuredBuffer<float4> colors;
+float4x4 solverToWorld;
+
+RWStructuredBuffer<float4x4> instanceTransforms;
+RWStructuredBuffer<float4x4> invInstanceTransforms;
+RWStructuredBuffer<float4> instanceColors;
+
+uint particleCount;
+
+[numthreads(128, 1, 1)]
+void UpdateParticleInstances (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    float4x4 tfrm = TRS(renderablePositions[p].xyz,
+                        renderableOrientations[p],
+                        renderableRadii[p].xyz * renderableRadii[p][3] * rendererData[rendererIndex[i]].radiusScale);
+
+    instanceTransforms[i] = mul(solverToWorld, tfrm);
+
+    instanceColors[i] = colors[p] * rendererData[rendererIndex[i]].color;
+    
+    invInstanceTransforms[i] = Inverse(instanceTransforms[i]);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta
new file mode 100644
index 00000000..a82b45e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d2b27c5c6c8154b6694d7e017468ccc0
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc b/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc
new file mode 100644
index 00000000..fc9edd61
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc
@@ -0,0 +1,38 @@
+#ifndef INTEGRATION_INCLUDE
+#define INTEGRATION_INCLUDE
+
+#include "Quaternion.cginc"
+
+float4 IntegrateLinear(float4 position, float4 velocity, float dt)
+{
+    return position + velocity * dt;
+}
+
+float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
+{
+    return (position - prevPosition) / dt;
+}
+
+quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
+{
+    quaternion delta = quaternion(angularVelocity.x,
+                                  angularVelocity.y,
+                                  angularVelocity.z, 0);
+
+    return quaternion(0.5f * qmul(delta,rotation) * dt); 
+}
+
+quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
+{
+    rotation += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt);
+    return normalize(rotation);
+}
+
+float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
+{
+    quaternion deltaq = qmul(rotation, q_conj(prevRotation));
+    float s = deltaq.w >= 0 ? 1 : -1;
+    return float4(s * deltaq.xyz * 2.0f / dt, 0);
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc.meta
new file mode 100644
index 00000000..7940d015
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Integration.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d436b0155e8f943d59a26290140664cd
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc b/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc
new file mode 100644
index 00000000..06f22729
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc
@@ -0,0 +1,46 @@
+#ifndef INTERLOCKEDUTILS_INCLUDE
+#define INTERLOCKEDUTILS_INCLUDE
+
+void InterlockedAddFloat(RWStructuredBuffer<uint4> buffer, int index, int axis, float value) 
+{
+    uint i_val = asuint(value);
+    uint tmp0 = 0;
+    uint tmp1;
+
+    [allow_uav_condition]
+    while (true) 
+    {
+        InterlockedCompareExchange(buffer[index][axis], tmp0, i_val, tmp1);
+
+        if (tmp1 == tmp0) 
+            break;
+
+        tmp0 = tmp1;
+        i_val = asuint(value + asfloat(tmp1));
+    }
+
+    return;
+}
+
+void InterlockedAddFloat(RWStructuredBuffer<uint> buffer, int index, float value) 
+{
+    uint i_val = asuint(value);
+    uint tmp0 = 0;
+    uint tmp1;
+
+    [allow_uav_condition]
+    while (true) 
+    {
+        InterlockedCompareExchange(buffer[index], tmp0, i_val, tmp1);
+
+        if (tmp1 == tmp0) 
+            break;
+
+        tmp0 = tmp1;
+        i_val = asuint(value + asfloat(tmp1));
+    }
+
+    return;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta
new file mode 100644
index 00000000..c09fa844
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: bb532ce1395da4d13b47a4da3e1b4033
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc b/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc
new file mode 100644
index 00000000..5df9be82
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc
@@ -0,0 +1,557 @@
+#ifndef MATHUTILS_INCLUDE
+#define MATHUTILS_INCLUDE
+
+#define PI 3.14159265359f
+#define SQRT2 1.41421356237f
+#define SQRT3 1.73205080757f
+#define EPSILON 0.0000001f
+#define FLT_MAX 3.402823466e+38
+#define FLT_MIN 1.175494351e-38
+
+#define FLOAT4_ZERO float4(0, 0, 0, 0)
+#define FLOAT4_EPSILON float4(EPSILON, EPSILON, EPSILON, EPSILON)
+
+#define zero 0
+#define one 1
+
+#define PHASE_SELFCOLLIDE (1 << 24)
+#define PHASE_FLUID (1 << 25)
+#define PHASE_ONESIDED (1 << 26)
+
+#include "Quaternion.cginc"
+#include "Matrix.cginc"
+
+float4 normalizesafe(in float4 v, float4 def = float4(0,0,0,0))
+{
+    float len = length(v);
+    return (len < EPSILON) ? def : v/len;
+}
+
+float3 normalizesafe(in float3 v, float3 def = float3(0,0,0))
+{
+    float len = length(v);
+    return (len < EPSILON) ? def : v/len;
+}
+
+inline float cmax( in float3 v)
+{
+    return max(max(v.x,v.y),v.z);
+}
+
+inline float3 nfmod(float3 a, float3 b)
+{
+    return a - b * floor(a / b);
+}
+
+inline float BaryScale(float4 coords)
+{
+    return 1.0 / dot(coords, coords);
+}
+
+float Remap01(float value, float min_, float max_)
+{
+    return (min(value, max_) - min(value, min_)) / (max_ - min_);
+}
+
+float EllipsoidRadius(float4 normSolverDirection, quaternion orientation, float3 radii)
+{
+    float3 localDir = rotate_vector(q_conj(orientation), normSolverDirection.xyz) / radii;
+    float sqrNorm = dot(localDir, localDir);
+    return sqrNorm > EPSILON ? sqrt(1 / sqrNorm) : radii.x;
+}
+
+float4 Project(float4 v, float4 onto)
+{
+    float len = dot(onto,onto);
+    if (len < EPSILON)
+        return FLOAT4_ZERO;
+    return dot(onto, v) * onto / len;
+}
+
+float3 Project(float3 v, float3 onto)
+{
+    float len = dot(onto,onto);
+    if (len < EPSILON)
+        return float3(0,0,0);
+    return dot(onto, v) * onto / len;
+}
+
+inline void OneSidedNormal(float4 forward, inout float4 normal)
+{
+    float d = dot(normal.xyz, forward.xyz);
+    if (d < 0) normal -= 2 * d * forward;
+}
+
+quaternion ExtractRotation(float3x3 m, quaternion rotation, int iterations)
+{
+    float4x4 R;
+    for (int i = 0; i < iterations; ++i)
+    {
+        R = q_toMatrix(rotation);
+        float3 omega = (cross(R._m00_m10_m20, m._m00_m10_m20) + cross(R._m01_m11_m21, m._m01_m11_m21) + cross(R._m02_m12_m22, m._m02_m12_m22)) /
+                       (abs(dot(R._m00_m10_m20, m._m00_m10_m20) + dot(R._m01_m11_m21, m._m01_m11_m21) + dot(R._m02_m12_m22, m._m02_m12_m22)) + EPSILON);
+
+        float w = length(omega);
+        if (w < EPSILON)
+            break;
+
+        rotation = normalize(qmul(axis_angle((1.0f / w) * omega, w), rotation));
+    }
+    return rotation;
+}
+
+quaternion ExtractRotation(float4x4 m, quaternion rotation, int iterations)
+{
+    return ExtractRotation((float3x3) m, rotation, iterations);
+}
+
+float4 GetParticleInertiaTensor(in float4 principalRadii, in float invRotationalMass)
+{
+    float4 sqrRadii = principalRadii * principalRadii;
+    return 0.2f / (invRotationalMass + EPSILON) * float4(sqrRadii[1] + sqrRadii[2],
+                                                         sqrRadii[0] + sqrRadii[2],
+                                                         sqrRadii[0] + sqrRadii[1], 0);
+}
+
+float4x4 TransformInertiaTensor(float4 tensor, quaternion rotation)
+{
+    float4x4 rotMatrix = q_toMatrix(rotation);
+    return mul(rotMatrix, mul(AsDiagonal(tensor), transpose(rotMatrix)));
+}
+        
+float RotationalInvMass(float4x4 inverseInertiaTensor, float4 pos, float4 direction)
+{
+    float4 cr = mul(inverseInertiaTensor, float4(cross(pos.xyz, direction.xyz), 0));
+    return dot(cross(cr.xyz, pos.xyz), direction.xyz);
+}
+
+float4 NearestPointOnEdge(float4 a, float4 b, float4 p, out float mu, bool clampToSegment = true)
+{
+    float4 ap = p - a;
+    float4 ab = b - a;
+    ap.w = 0;
+    ab.w = 0;
+
+    mu = dot(ap, ab) / dot(ab, ab);
+
+    if (clampToSegment)
+        mu = saturate(mu);
+
+    float4 result = a + ab * mu;
+    result.w = 0;
+    return result;
+}
+
+float3 NearestPointOnEdge(float3 a, float3 b, float3 p, out float mu, bool clampToSegment = true)
+{
+    float3 ap = p - a;
+    float3 ab = b - a;
+
+    mu = dot(ap, ab) / dot(ab, ab);
+
+    if (clampToSegment)
+        mu = saturate(mu);
+
+    float3 result = a + ab * mu;
+    return result;
+}
+
+float RaySphereIntersection(float3 rayOrigin, float3 rayDirection, float3 center, float radius)
+{
+    float3 oc = rayOrigin - center;
+
+    float a = dot(rayDirection, rayDirection);
+    float b = 2.0 * dot(oc, rayDirection);
+    float c = dot(oc, oc) - radius * radius;
+    float discriminant = b * b - 4 * a * c;
+    if (discriminant < 0){
+        return -1.0f;
+    }
+    else{
+        return (-b - sqrt(discriminant)) / (2.0f * a);
+    }
+}
+
+struct CachedTri
+{
+    float4 vertex;
+    float4 edge0;
+    float4 edge1;
+    float4 data;
+
+    void Cache(in float4 v1,
+               in float4 v2,
+               in float4 v3)
+    {
+        vertex = v1;
+        edge0 = v2 - v1;
+        edge1 = v3 - v1;
+        data = float4(0,0,0,0);
+        data[0] = dot(edge0, edge0);
+        data[1] = dot(edge0, edge1);
+        data[2] = dot(edge1, edge1);
+        data[3] = data[0] * data[2] - data[1] * data[1];
+    }
+};
+
+float4 NearestPointOnTri(in CachedTri tri,
+                         in float4 p,
+                         out float4 bary)
+{
+    float4 v0 = tri.vertex - p;
+    float b0 = dot(tri.edge0, v0);
+    float b1 = dot(tri.edge1, v0);
+    float t0 = tri.data[1] * b1 - tri.data[2] * b0;
+    float t1 = tri.data[1] * b0 - tri.data[0] * b1;
+
+    if (t0 + t1 <= tri.data[3])
+    {
+        if (t0 < zero)
+        {
+            if (t1 < zero)  // region 4
+            {
+                if (b0 < zero)
+                {
+                    t1 = zero;
+                    if (-b0 >= tri.data[0])  // V0
+                        t0 = one;
+                    else  // E01
+                        t0 = -b0 / tri.data[0];
+                }
+                else
+                {
+                    t0 = zero;
+                    if (b1 >= zero)  // V0
+                        t1 = zero;
+                    else if (-b1 >= tri.data[2])  // V2
+                        t1 = one;
+                    else  // E20
+                        t1 = -b1 / tri.data[2];
+                }
+            }
+            else  // region 3
+            {
+                t0 = zero;
+                if (b1 >= zero)  // V0
+                    t1 = zero;
+                else if (-b1 >= tri.data[2])  // V2
+                    t1 = one;
+                else  // E20
+                    t1 = -b1 / tri.data[2];
+            }
+        }
+        else if (t1 < zero)  // region 5
+        {
+            t1 = zero;
+            if (b0 >= zero)  // V0
+                t0 = zero;
+            else if (-b0 >= tri.data[0])  // V1
+                t0 = one;
+            else  // E01
+                t0 = -b0 / tri.data[0];
+        }
+        else  // region 0, interior
+        {
+            float invDet = one / tri.data[3];
+            t0 *= invDet;
+            t1 *= invDet;
+        }
+    }
+    else
+    {
+        float tmp0, tmp1, numer, denom;
+
+        if (t0 < zero)  // region 2
+        {
+            tmp0 = tri.data[1] + b0;
+            tmp1 = tri.data[2] + b1;
+            if (tmp1 > tmp0)
+            {
+                numer = tmp1 - tmp0;
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V1
+                {
+                    t0 = one;
+                    t1 = zero;
+                }
+                else  // E12
+                {
+                    t0 = numer / denom;
+                    t1 = one - t0;
+                }
+            }
+            else
+            {
+                t0 = zero;
+                if (tmp1 <= zero)  // V2
+                    t1 = one;
+                else if (b1 >= zero)  // V0
+                    t1 = zero;
+                else  // E20
+                    t1 = -b1 / tri.data[2];
+            }
+        }
+        else if (t1 < zero)  // region 6
+        {
+            tmp0 = tri.data[1] + b1;
+            tmp1 = tri.data[0] + b0;
+            if (tmp1 > tmp0)
+            {
+                numer = tmp1 - tmp0;
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V2
+                {
+                    t1 = one;
+                    t0 = zero;
+                }
+                else  // E12
+                {
+                    t1 = numer / denom;
+                    t0 = one - t1;
+                }
+            }
+            else
+            {
+                t1 = zero;
+                if (tmp1 <= zero)  // V1
+                    t0 = one;
+                else if (b0 >= zero)  // V0
+                    t0 = zero;
+                else  // E01
+                    t0 = -b0 / tri.data[0];
+            }
+        }
+        else  // region 1
+        {
+            numer = tri.data[2] + b1 - tri.data[1] - b0;
+            if (numer <= zero)  // V2
+            {
+                t0 = zero;
+                t1 = one;
+            }
+            else
+            {
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V1
+                {
+                    t0 = one;
+                    t1 = zero;
+                }
+                else  // 12
+                {
+                    t0 = numer / denom;
+                    t1 = one - t0;
+                }
+            }
+        }
+    }
+
+    bary = float4(1 - (t0 + t1), t0, t1,0);
+    return tri.vertex + t0 * tri.edge0 + t1 * tri.edge1;
+}
+
+float3 unitOrthogonal(float3 input)
+{
+    // Find a vector to cross() the input with.
+    if (!(input.x < input.z * EPSILON)
+    ||  !(input.y < input.z * EPSILON))
+    {
+        float invnm = 1 / length(input.xy);
+        return float3(-input.y * invnm, input.x * invnm, 0);
+    }
+    else
+    {
+        float invnm = 1 / length(input.yz);
+        return float3(0, -input.z * invnm, input.y * invnm);
+    }
+}
+
+// D is symmetric, S is an eigen value
+float3 EigenVector(float3x3 D, float S)
+{
+    // Compute a cofactor matrix of D - sI.
+    float3 c0 = D._m00_m10_m20; c0[0] -= S;
+    float3 c1 = D._m01_m11_m21; c1[1] -= S;
+    float3 c2 = D._m02_m12_m22; c2[2] -= S;
+
+    // Upper triangular matrix
+    float3 c0p = float3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
+    float3 c1p = float3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
+    float3 c2p = float3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);
+
+    // Get a column vector with a largest norm (non-zero).
+    float C01s = c1p[0] * c1p[0];
+    float C02s = c2p[0] * c2p[0];
+    float C12s = c2p[1] * c2p[1];
+    float3 norm = float3(c0p[0] * c0p[0] + C01s + C02s,
+                         C01s + c1p[1] * c1p[1] + C12s,
+                         C02s + C12s + c2p[2] * c2p[2]);
+
+    // index of largest:
+    int index = 0;
+    if (norm[0] > norm[1] && norm[0] > norm[2])
+        index = 0;
+    else if (norm[1] > norm[0] && norm[1] > norm[2])
+        index = 1;
+    else
+        index = 2;
+
+    float3 V = float3(0,0,0);
+
+    // special case
+    if (norm[index] < EPSILON)
+    {
+        V[0] = 1; return V;
+    }
+    else if (index == 0)
+    {
+        V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
+        return normalize(V);
+    }
+    else if (index == 1)
+    {
+        V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
+        return normalize(V);
+    }
+    else
+    {
+        V = c2p;
+        return normalize(V);
+    }
+}
+
+static float3 EigenValues(float3x3 D)
+{
+    float one_third = 1 / 3.0f;
+    float one_sixth = 1 / 6.0f;
+    float three_sqrt = sqrt(3.0f);
+
+    float3 c0 = D._m00_m10_m20;
+    float3 c1 = D._m01_m11_m21;
+    float3 c2 = D._m02_m12_m22;
+
+    float m = one_third * (c0[0] + c1[1] + c2[2]);
+
+    // K is D - I*diag(S)
+    float K00 = c0[0] - m;
+    float K11 = c1[1] - m;
+    float K22 = c2[2] - m;
+
+    float K01s = c1[0] * c1[0];
+    float K02s = c2[0] * c2[0];
+    float K12s = c2[1] * c2[1];
+
+    float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
+    float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));
+
+    float p_sqrt = sqrt(p);
+
+    float tmp = p * p * p - q * q;
+    float phi = one_third * atan2(sqrt(max(0, tmp)), q);
+    float phi_c = cos(phi);
+    float phi_s = sin(phi);
+    float sqrt_p_c_phi = p_sqrt * phi_c;
+    float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;
+
+    float e0 = m + 2 * sqrt_p_c_phi;
+    float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
+    float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;
+
+    float aux;
+    if (e0 > e1)
+    {
+        aux = e0;
+        e0 = e1;
+        e1 = aux;
+    }
+    if (e0 > e2)
+    {
+        aux = e0;
+        e0 = e2;
+        e2 = aux;
+    }
+    if (e1 > e2)
+    {
+        aux = e1;
+        e1 = e2;
+        e2 = aux;
+    }
+
+    return float3(e2, e1, e0);
+}
+
+void EigenSolve(float3x3 D, out float3 S, out float3x3 V)
+{
+    // D is symmetric
+    // S is a vector whose elements are eigenvalues
+    // V is a matrix whose columns are eigenvectors
+    S = EigenValues(D);
+    float3 V0, V1, V2;
+
+    if (S[0] - S[1] > S[1] - S[2])
+    {
+        V0 = EigenVector(D, S[0]);
+        if (S[1] - S[2] < EPSILON)
+        {
+            V2 = unitOrthogonal(V0);
+        }
+        else
+        {
+            V2 = EigenVector(D, S[2]); V2 -= V0 * dot(V0, V2); V2 = normalize(V2);
+        }
+        V1 = cross(V2, V0);
+    }
+    else
+    {
+        V2 = EigenVector(D, S[2]);
+        if (S[0] - S[1] < EPSILON)
+        {
+            V1 = unitOrthogonal(V2);
+        }
+        else
+        {
+            V1 = EigenVector(D, S[1]); V1 -= V2 * dot(V2, V1); V1 = normalize(V1);
+        }
+        V0 = cross(V1, V2);
+    }
+
+    V._m00_m10_m20 = V0;
+    V._m01_m11_m21 = V1;
+    V._m02_m12_m22 = V2;
+}
+
+float4 UnpackFloatRGBA(float v)
+{
+    uint rgba = asuint(v);
+    float r = ((rgba & 0xff000000) >> 24) / 255.0;
+    float g = ((rgba & 0x00ff0000) >> 16) / 255.0;
+    float b = ((rgba & 0x0000ff00) >> 8) / 255.0;
+    float a = (rgba & 0x000000ff) / 255.0;
+    return float4(r, g, b, a);
+}
+
+float PackFloatRGBA(float4 enc)
+{
+    uint rgba = ((uint)(enc.x * 255.0) << 24) +
+                ((uint)(enc.y * 255.0) << 16) +
+                ((uint)(enc.z * 255.0) << 8) +
+                (uint)(enc.w * 255.0);
+    return asfloat(rgba);
+}
+
+float2 UnpackFloatRG(float v)
+{
+    uint rgba = asuint(v);
+    float r = ((rgba & 0xffff0000) >> 16) / 65535.0;
+    float g = (rgba & 0x0000ffff) / 65535.0;
+    return float2(r, g);
+}
+
+float PackFloatRG(float2 enc)
+{
+    uint rgba = ((uint)(enc.x * 65535.0) << 16) +
+                (uint)(enc.y * 65535.0);
+    return asfloat(rgba);
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc.meta
new file mode 100644
index 00000000..43b30e62
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/MathUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 729e4f240dd344abfa1b0972b2ceb0ea
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc b/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc
new file mode 100644
index 00000000..5a1bf98e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc
@@ -0,0 +1,108 @@
+#ifndef MATRIX_INCLUDE
+#define MATRIX_INCLUDE
+
+#define FLOAT4X4_IDENTITY float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
+#define FLOAT3X3_IDENTITY float3x3(1, 0, 0, 0, 1, 0, 0, 0, 1)
+#define FLOAT4X4_ZERO float4x4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
+#define FLOAT3X3_ZERO float3x3(0, 0, 0, 0, 0, 0, 0, 0, 0)
+
+#include "Quaternion.cginc"
+
+float4x4 Inverse(float4x4 m) 
+{
+    float n11 = m[0][0], n12 = m[1][0], n13 = m[2][0], n14 = m[3][0];
+    float n21 = m[0][1], n22 = m[1][1], n23 = m[2][1], n24 = m[3][1];
+    float n31 = m[0][2], n32 = m[1][2], n33 = m[2][2], n34 = m[3][2];
+    float n41 = m[0][3], n42 = m[1][3], n43 = m[2][3], n44 = m[3][3];
+
+    float t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44;
+    float t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44;
+    float t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44;
+    float t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
+
+    float det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+    float idet = 1.0f / det;
+
+    float4x4 ret;
+
+    ret[0][0] = t11 * idet;
+    ret[0][1] = (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) * idet;
+    ret[0][2] = (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) * idet;
+    ret[0][3] = (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) * idet;
+
+    ret[1][0] = t12 * idet;
+    ret[1][1] = (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) * idet;
+    ret[1][2] = (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) * idet;
+    ret[1][3] = (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) * idet;
+
+    ret[2][0] = t13 * idet;
+    ret[2][1] = (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) * idet;
+    ret[2][2] = (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) * idet;
+    ret[2][3] = (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) * idet;
+
+    ret[3][0] = t14 * idet;
+    ret[3][1] = (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) * idet;
+    ret[3][2] = (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) * idet;
+    ret[3][3] = (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) * idet;
+
+    return ret;
+}
+
+float4x4 m_scale(float4x4 m, float3 v)
+{
+    float x = v.x, y = v.y, z = v.z;
+
+    m[0][0] *= x; m[1][0] *= y; m[2][0] *= z;
+    m[0][1] *= x; m[1][1] *= y; m[2][1] *= z;
+    m[0][2] *= x; m[1][2] *= y; m[2][2] *= z;
+    m[0][3] *= x; m[1][3] *= y; m[2][3] *= z;
+
+    return m;
+}
+
+float4x4 m_translate(float4x4 m, float3 v)
+{
+    float x = v.x, y = v.y, z = v.z;
+    m[0][3] = x;
+    m[1][3] = y;
+    m[2][3] = z;
+    return m;
+}
+
+float4x4 TRS(float3 position, float4 quat, float3 scale)
+{
+    float4x4 m = q_toMatrix(quat);
+    return float4x4(m[0][0] * scale.x, m[0][1] * scale.y, m[0][2] * scale.z, position.x,
+                    m[1][0] * scale.x, m[1][1] * scale.y, m[1][2] * scale.z, position.y,
+                    m[2][0] * scale.x, m[2][1] * scale.y, m[2][2] * scale.z, position.z,
+                    0, 0, 0, 1);
+}
+
+float4x4 AsDiagonal(in float4 v)
+{
+    return float4x4(v.x, 0, 0, 0,
+                    0, v.y, 0, 0,
+                    0, 0, v.z, 0,
+                    0, 0, 0, v.w);
+}
+
+float3x3 multrnsp(in float4 column, in float4 row)
+{
+    return float3x3(row.xyz * column[0],row.xyz * column[1],row.xyz * column[2]);
+}
+
+float4x4 multrnsp4(in float4 column, float4 row)
+{
+    row[3] = 0;
+    return float4x4(row * column[0],row * column[1],row * column[2], float4(0,0,0,0));
+}
+
+float FrobeniusNorm(in float4x4 m)
+{
+    return sqrt(dot(m._m00_m10_m20_m30,m._m00_m10_m20_m30) + 
+                dot(m._m01_m11_m21_m31,m._m01_m11_m21_m31) +
+                dot(m._m02_m12_m22_m32,m._m02_m12_m22_m32) + 
+                dot(m._m03_m13_m23_m33,m._m03_m13_m23_m33));
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc.meta
new file mode 100644
index 00000000..d6fefdd9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Matrix.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 80cddbfae548f433a93a4e6e7a10b089
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc b/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc
new file mode 100644
index 00000000..4fcc93d0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc
@@ -0,0 +1,32 @@
+#ifndef NORMALCOMPRESSION_INCLUDE
+#define NORMALCOMPRESSION_INCLUDE
+
+float2 octWrap( float2 v )
+{
+    return ( 1.0 - abs( v.yx ) ) * ( v.xy >= 0.0 ? 1.0 : -1.0 );
+}
+
+// use octahedral encoding to reduce to 2 coords, then pack them as two 16 bit values in a 32 bit float.
+float encode( float3 n )
+{
+    n /= ( abs( n.x ) + abs( n.y ) + abs( n.z ) );
+    n.xy = n.z >= 0.0 ? n.xy : octWrap( n.xy );
+    n.xy = n.xy * 0.5 + 0.5;
+    uint nx = (uint)(n.x * 0xffff);
+    uint ny = (uint)(n.y * 0xffff);
+    return asfloat((nx << 16) | (ny & 0xffff));
+}
+ 
+// unpack 32 bit float into two 16 bit ones, then use octahedral decoding.
+float3 decode( float k )
+{
+    uint d = asuint(k);
+    float2 f = float2((d >> 16) / 65535.0, (d & 0xffff) / 65535.0) * 2.0 - 1.0;
+     
+    float3 n = float3( f.x, f.y, 1.0 - abs( f.x ) - abs( f.y ) );
+    float t = saturate( -n.z );
+    n.xy += n.xy >= 0.0 ? -t : t;
+    return normalize( n );
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta
new file mode 100644
index 00000000..d98da818
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d05e07f20b7784bac93ad5818826c787
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc b/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc
new file mode 100644
index 00000000..dbc54cd9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc
@@ -0,0 +1,126 @@
+#ifndef OPTIMIZATION_INCLUDE
+#define OPTIMIZATION_INCLUDE
+
+#include "MathUtils.cginc"
+#include "SurfacePoint.cginc"
+
+void GetInterpolatedSimplexData(in int simplexStart,
+                                in int simplexSize,
+                                StructuredBuffer<int> simplices,
+                                StructuredBuffer<float4> positions,
+                                StructuredBuffer<quaternion> orientations,
+                                StructuredBuffer<float4> radii,
+                                float4 convexBary,
+                                inout float4 convexPoint,
+                                inout float4 convexRadii,
+                                inout float4 convexOrientation)
+{
+    convexPoint = FLOAT4_ZERO;
+    convexRadii = FLOAT4_ZERO;
+    convexOrientation = quaternion(0, 0, 0, 0);
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particle = simplices[simplexStart + j];
+        convexPoint += positions[particle] * convexBary[j];
+        convexRadii += radii[particle] * convexBary[j];
+        convexOrientation += orientations[particle] * convexBary[j];
+    }
+    convexPoint.w = 0;
+}
+
+// Frank-Wolfe convex optimization algorithm. Returns closest point to a simplex in a signed distance function.
+void FrankWolfe(in IDistanceFunction f,
+                in int simplexStart,
+                in int simplexSize,
+                StructuredBuffer<float4>  positions,
+                StructuredBuffer<quaternion>  orientations,
+                StructuredBuffer<float4>  radii,
+                StructuredBuffer<int>  simplices,
+                inout float4 convexPoint,
+                inout float4 convexThickness,
+                inout quaternion convexOrientation,
+                inout float4 convexBary,
+                inout SurfacePoint pointInFunction,
+                int maxIterations,
+                float tolerance)
+{
+    for (int i = 0; i < maxIterations; ++i)
+    {
+        // sample target function:
+        f.Evaluate(convexPoint, convexThickness, convexOrientation, pointInFunction);
+
+        // find descent direction:
+        int descent = 0;
+        float gap = FLT_MIN;
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particle = simplices[simplexStart + j];
+            float4 candidate = positions[particle] - convexPoint;
+            candidate.w = 0;
+
+            // here, we adjust the candidate by projecting it to the engrosed simplex's surface:
+            candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
+
+            float corr = dot(-pointInFunction.normal, candidate);
+            if (corr > gap)
+            {
+                descent = j;
+                gap = corr;
+            }
+        }
+
+        // if the duality gap is below tolerance threshold, stop iterating.
+        if (gap < tolerance)
+            break;
+
+        // update the barycentric coords using 2/(i+2) as  the step factor
+        float stp = 0.3f * 2.0f / (i + 2);
+        convexBary *= 1 - stp;
+        switch(descent)
+        {
+            case 0: convexBary[0] += stp;break;
+            case 1: convexBary[1] += stp;break;
+            case 2: convexBary[2] += stp;break;
+            case 3: convexBary[3] += stp;break;
+        }
+
+        // get cartesian coordinates of current solution:
+        GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, convexPoint, convexThickness, convexOrientation);
+    }   
+}
+
+SurfacePoint Optimize(in IDistanceFunction f,
+                       StructuredBuffer<float4> positions,
+                       StructuredBuffer<quaternion> orientations,
+                       StructuredBuffer<float4> radii,
+                       StructuredBuffer<int> simplices,
+                       in int simplexStart,
+                       in int simplexSize,
+                       inout float4 convexBary,
+                       out float4 convexPoint,
+                       in int maxIterations = 16,
+                       in float tolerance = 0.004f)
+{
+    SurfacePoint pointInFunction;
+
+    // get cartesian coordinates of the initial guess:
+    float4 convexThickness;
+    quaternion convexOrientation;
+    GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, convexPoint, convexThickness, convexOrientation);
+
+    // for a 0-simplex (point), perform a single evaluation:
+    if (simplexSize == 1 || maxIterations < 1)
+        f.Evaluate(convexPoint, convexThickness, convexOrientation, pointInFunction);
+
+    // for a 1-simplex (edge), perform golden ratio search:
+    //else if (simplexSize == 2)
+      //  GoldenSearch(ref function, simplexStart, simplexSize, positions, orientations, radii, simplices, ref convexPoint, ref convexThickness, ref convexOrientation, ref convexBary, ref pointInFunction, maxIterations, tolerance * 10);
+
+    // for higher-order simplices, use general Frank-Wolfe convex optimization:
+    else
+       FrankWolfe(f, simplexStart, simplexSize, positions, orientations, radii, simplices, convexPoint, convexThickness, convexOrientation, convexBary, pointInFunction, maxIterations, tolerance);
+    
+    return pointInFunction;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc.meta
new file mode 100644
index 00000000..fe513de1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Optimization.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: e10fb000e4ce24365adc488a45bbe664
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute
new file mode 100644
index 00000000..66fd25b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute
@@ -0,0 +1,189 @@
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "CollisionMaterial.cginc"
+#include "Simplex.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<quaternion> orientations;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> deltas;
+
+// Vulkan workaround: don't declare a RW array after a counter/append one (particleContacts) since the counter overlaps the first entry in the next array.
+RWStructuredBuffer<contactMasses> effectiveMasses;
+RWStructuredBuffer<contact> particleContacts;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint particleCount;
+float deltaTime;
+float shockPropagation;
+float4 gravity;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+    
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    float4 simplexVelocityA = float4(0,0,0,0);
+    float4 simplexPrevPositionA = float4(0,0,0,0);
+    quaternion simplexPrevOrientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+    float simplexInvMassA = 0;
+    float simplexInvRotationalMassA = 0;
+
+    float4 simplexVelocityB = float4(0,0,0,0);
+    float4 simplexPrevPositionB = float4(0,0,0,0);
+    quaternion simplexPrevOrientationB = quaternion(0, 0, 0, 0);
+    float simplexRadiusB = 0;
+    float simplexInvMassB = 0;
+    float simplexInvRotationalMassB = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        simplexVelocityA += velocities[particleIndex] * particleContacts[i].pointA[j];
+        simplexPrevPositionA += prevPositions[particleIndex] * particleContacts[i].pointA[j];
+        simplexPrevOrientationA += prevOrientations[particleIndex] * particleContacts[i].pointA[j];
+        simplexInvMassA += invMasses[particleIndex] * particleContacts[i].pointA[j];
+        simplexInvRotationalMassA += invRotationalMasses[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        simplexVelocityB += velocities[particleIndex] * particleContacts[i].pointB[j];
+        simplexPrevPositionB += prevPositions[particleIndex] * particleContacts[i].pointB[j];
+        simplexPrevOrientationB += prevOrientations[particleIndex] * particleContacts[i].pointB[j];
+        simplexInvMassB += invMasses[particleIndex] * particleContacts[i].pointB[j];
+        simplexInvRotationalMassB += invRotationalMasses[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointB[j];
+    }
+
+    simplexPrevPositionA.w = 0;
+    simplexPrevPositionB.w = 0;
+
+    // update contact distance
+    float dAB = dot(simplexPrevPositionA - simplexPrevPositionB, particleContacts[i].normal);
+    particleContacts[i].dist = dAB - (simplexRadiusA + simplexRadiusB);
+
+    // calculate contact points:
+    float4 contactPointA = simplexPrevPositionB + particleContacts[i].normal * (particleContacts[i].dist + simplexRadiusB);
+    float4 contactPointB = simplexPrevPositionA - particleContacts[i].normal * (particleContacts[i].dist + simplexRadiusA);
+
+    // update contact basis:
+    CalculateBasis(simplexVelocityA - simplexVelocityB, particleContacts[i].normal,particleContacts[i].tangent);
+
+    // update contact masses:
+    int aMaterialIndex = collisionMaterialIndices[simplices[simplexStartA]];
+    int bMaterialIndex = collisionMaterialIndices[simplices[simplexStartB]];
+    bool rollingContacts = (aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false) |
+                           (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
+
+    float4 invInertiaTensorA = 1.0/(GetParticleInertiaTensor(simplexRadiusA, simplexInvRotationalMassA) + FLOAT4_EPSILON);
+    float4 invInertiaTensorB = 1.0/(GetParticleInertiaTensor(simplexRadiusB, simplexInvRotationalMassB) + FLOAT4_EPSILON);
+
+    float4 bitangent = GetBitangent(particleContacts[i]);
+    CalculateContactMassesA(simplexInvMassA, invInertiaTensorA, simplexPrevPositionA, simplexPrevOrientationA, contactPointA, rollingContacts, particleContacts[i].normal,particleContacts[i].tangent,bitangent, effectiveMasses[i].normalInvMassA, effectiveMasses[i].tangentInvMassA, effectiveMasses[i].bitangentInvMassA);
+    CalculateContactMassesB(simplexInvMassB, invInertiaTensorB, simplexPrevPositionB, simplexPrevOrientationB, contactPointB, rollingContacts, particleContacts[i].normal,particleContacts[i].tangent,bitangent, effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    float4 simplexPositionA = float4(0,0,0,0), simplexPositionB = float4(0,0,0,0);
+    float simplexRadiusA = 0, simplexRadiusB = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        simplexPositionA += positions[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        simplexPositionB += positions[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+
+    simplexPositionA.w = 0;
+    simplexPositionB.w = 0;
+
+    float4 posA = simplexPositionA - particleContacts[i].normal * simplexRadiusA;
+    float4 posB = simplexPositionB + particleContacts[i].normal * simplexRadiusB;
+
+    float normalInvMass = effectiveMasses[i].normalInvMassA + effectiveMasses[i].normalInvMassB;
+
+    float lambda = SolvePenetration(particleContacts[i], normalInvMass, posA, posB, 10);
+
+    if (abs(lambda) > EPSILON)
+    {
+        float shock = shockPropagation * dot(particleContacts[i].normal, normalizesafe(gravity));
+        float4 delta = lambda * particleContacts[i].normal;
+       
+        float baryScale = BaryScale(particleContacts[i].pointA);
+        for (j = 0; j < simplexSizeA; ++j)
+        {
+            int particleIndex = simplices[simplexStartA + j];
+            float4 delta1 = delta * invMasses[particleIndex] * particleContacts[i].pointA[j] * baryScale * (1 - shock);
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        baryScale = BaryScale(particleContacts[i].pointB);
+        for (j = 0; j < simplexSizeB; ++j)
+        {
+            int particleIndex = simplices[simplexStartB + j];
+            float4 delta2 = -delta * invMasses[particleIndex] * particleContacts[i].pointB[j] * baryScale * (1 + shock);
+            AtomicAddPositionDelta(particleIndex, delta2);
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+ 
+    ApplyPositionDelta(positions, p, sorFactor);
+   
+}
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta
new file mode 100644
index 00000000..e53cfc74
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 770004596b21f49118a60c5ad181940c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute
new file mode 100644
index 00000000..13c92607
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute
@@ -0,0 +1,187 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "ContactHandling.cginc"
+#include "Integration.cginc"
+#include "CollisionMaterial.cginc"
+#include "Simplex.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> simplices;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+RWStructuredBuffer<float4> deltas;
+
+RWStructuredBuffer<contact> particleContacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint particleCount;
+float substepTime;
+float stepTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStartA]],
+                                                           collisionMaterialIndices[simplices[simplexStartB]]);
+    
+    float4 prevPositionA = float4(0,0,0,0);
+    float4 linearVelocityA = float4(0,0,0,0);
+    float4 angularVelocityA = float4(0,0,0,0);
+    float invRotationalMassA = 0;
+    quaternion orientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+
+    float4 prevPositionB = float4(0,0,0,0);
+    float4 linearVelocityB = float4(0,0,0,0);
+    float4 angularVelocityB = float4(0,0,0,0);
+    float invRotationalMassB = 0;
+    quaternion orientationB = quaternion(0, 0, 0, 0);
+    float simplexRadiusB = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        prevPositionA    += prevPositions[particleIndex] * particleContacts[i].pointA[j];
+        linearVelocityA  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * particleContacts[i].pointA[j];
+        angularVelocityA += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * particleContacts[i].pointA[j];
+        invRotationalMassA += invRotationalMasses[particleIndex] * particleContacts[i].pointA[j];
+        orientationA += orientations[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        prevPositionB    += prevPositions[particleIndex] * particleContacts[i].pointB[j];
+        linearVelocityB  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * particleContacts[i].pointB[j];
+        angularVelocityB += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * particleContacts[i].pointB[j];
+        invRotationalMassB += invRotationalMasses[particleIndex] * particleContacts[i].pointB[j];
+        orientationB += orientations[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointB[j];
+    }
+
+    float4 rA = FLOAT4_ZERO;
+    float4 rB = FLOAT4_ZERO;
+
+    // Consider angular velocities if rolling contacts are enabled:
+    if (material.rollingContacts > 0)
+    {
+        rA = -particleContacts[i].normal * simplexRadiusA;
+        rB = particleContacts[i].normal * simplexRadiusB;
+
+        linearVelocityA += float4(cross(angularVelocityA.xyz, rA.xyz), 0);
+        linearVelocityB += float4(cross(angularVelocityB.xyz, rB.xyz), 0);
+    }
+
+    // Calculate relative velocity:
+    float4 relativeVelocity = linearVelocityA - linearVelocityB;
+
+    // Determine impulse magnitude:
+    float tangentMass = effectiveMasses[i].tangentInvMassA + effectiveMasses[i].tangentInvMassB;
+    float bitangentMass = effectiveMasses[i].bitangentInvMassA + effectiveMasses[i].bitangentInvMassB;
+    float2 impulses = SolveFriction(particleContacts[i],tangentMass,bitangentMass,relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+    if (abs(impulses.x) > EPSILON || abs(impulses.y) > EPSILON)
+    {
+        float4 tangentImpulse   = impulses.x * particleContacts[i].tangent;
+        float4 bitangentImpulse = impulses.y * GetBitangent(particleContacts[i]);
+        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+        float baryScale = BaryScale(particleContacts[i].pointA);
+        for (j = 0; j < simplexSizeA; ++j)
+        {
+            int particleIndex = simplices[simplexStartA + j];
+            float4 delta1 = (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * particleContacts[i].pointA[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        baryScale = BaryScale(particleContacts[i].pointB);
+        for (j = 0; j < simplexSizeB; ++j)
+        {
+            int particleIndex = simplices[simplexStartB + j];
+            float4 delta2 = -(tangentImpulse * effectiveMasses[i].tangentInvMassB + bitangentImpulse * effectiveMasses[i].bitangentInvMassB) * substepTime * particleContacts[i].pointB[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta2);
+        }
+
+        // Rolling contacts:
+        if (material.rollingContacts > 0)
+        {
+            float4 invInertiaTensorA = 1.0/(GetParticleInertiaTensor(simplexRadiusA, invRotationalMassA) + FLOAT4_EPSILON);
+            float4 invInertiaTensorB = 1.0/(GetParticleInertiaTensor(simplexRadiusB, invRotationalMassB) + FLOAT4_EPSILON);
+
+            // Calculate angular velocity deltas due to friction impulse:
+            float4x4 solverInertiaA = TransformInertiaTensor(invInertiaTensorA, orientationA);
+            float4x4 solverInertiaB = TransformInertiaTensor(invInertiaTensorB, orientationB);
+
+            float4 angVelDeltaA = mul(solverInertiaA, float4(cross(rA.xyz, totalImpulse.xyz), 0));
+            float4 angVelDeltaB = -mul(solverInertiaB, float4(cross(rB.xyz, totalImpulse.xyz), 0));
+
+            // Final angular velocities, after adding the deltas:
+            angularVelocityA += angVelDeltaA;
+            angularVelocityB += angVelDeltaB;
+
+            // Calculate weights (inverse masses):
+            float invMassA = length(mul(solverInertiaA, normalizesafe(angularVelocityA)));
+            float invMassB = length(mul(solverInertiaB, normalizesafe(angularVelocityB)));
+
+            // Calculate rolling axis and angular velocity deltas:
+            float4 rollAxis = FLOAT4_ZERO;
+            float rollingImpulse = SolveRollingFriction(particleContacts[i],angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, rollAxis);
+            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+            // Apply orientation deltas to particles:
+            quaternion orientationDeltaA = AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+            quaternion orientationDeltaB = AngularVelocityToSpinQuaternion(orientationB, angVelDeltaB, substepTime);
+
+            for (j = 0; j < simplexSizeA; ++j)
+            {
+                int particleIndex = simplices[simplexStartA + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDeltaA);
+            }
+
+            for (j = 0; j < simplexSizeB; ++j)
+            {
+                int particleIndex = simplices[simplexStartB + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDeltaB);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+  
+    ApplyPositionDelta(positions, p, sorFactor);
+    ApplyOrientationDelta(orientations, p, sorFactor);
+}
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta
new file mode 100644
index 00000000..48a2a4d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bd14011b19e9c47d1964f351a7ed4df7
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute b/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute
new file mode 100644
index 00000000..bc640844
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute
@@ -0,0 +1,600 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "SolverParameters.cginc"
+#include "Simplex.cginc"
+#include "Phases.cginc"
+#include "Bounds.cginc"
+#include "Simplex.cginc"
+
+#pragma kernel Clear
+#pragma kernel InsertSimplices
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortSimplices
+#pragma kernel BuildFluidDispatch
+#pragma kernel SortFluidSimplices
+#pragma kernel BuildMortonIndices
+#pragma kernel MortonSort
+#pragma kernel FindFluidNeighborsInSameLevel
+#pragma kernel FindFluidNeighborsInUpperLevels
+#pragma kernel BuildContactList
+
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<aabb> simplexBounds;
+StructuredBuffer<int> simplices;        // particle indices in each simplex.
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterials;
+StructuredBuffer<float4> fluidInterface;
+StructuredBuffer<uint4> normals;
+
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<quaternion> restOrientations;
+
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<int> phases;
+StructuredBuffer<int> filters;
+
+StructuredBuffer<int4> R_cellCoords;     // for each item, its cell coordinates.
+StructuredBuffer<uint> R_offsetInCell;   // for each item, its offset within the cell.
+StructuredBuffer<uint> R_cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> R_cellCounts;     // number of item in each cell.
+StructuredBuffer<uint> R_levelPopulation;
+
+RWStructuredBuffer<int4> cellCoords;     // for each item, its cell coordinates.
+RWStructuredBuffer<uint> offsetInCell;   // for each item, its offset within the cell.
+RWStructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+
+RWStructuredBuffer<int> cellHashToMortonIndex; 
+
+RWStructuredBuffer<int> mortonSortedCellHashes; 
+RWStructuredBuffer<int> sortedSimplexToFluid; // fluidSimplices
+RWStructuredBuffer<int> sortedFluidIndices;  
+RWStructuredBuffer<int> sortedSimplexIndices;      
+
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedFluidMaterials;
+RWStructuredBuffer<float4> sortedFluidInterface;
+RWStructuredBuffer<float4> sortedPrincipalRadii;
+
+RWStructuredBuffer<uint> neighbors;
+RWStructuredBuffer<uint> neighborCounts;
+
+RWStructuredBuffer<contact> particleContacts;
+RWStructuredBuffer<uint2> contactPairs;
+
+RWStructuredBuffer<uint> fluidDispatchBuffer;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+RWStructuredBuffer<float4> colors;
+
+uint maxContacts;
+uint maxNeighbors;
+uint fluidParticleCount;
+float deltaTime;    
+
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex; 
+
+/**
+For each cell, calculate coords and morton. This only works if there’s no collisions, so use the coord of one random particle that maps to that cell:
+
+For each simplex:
+Determine cell coords (any particle in it will do) and hash, store in array per cell. Sort array by morton(coords), create array that maps from cell hash to morton index, then use as cellCounts[mortonIndex].
+
+This way we have sorted particles and cells, and can use for fluid surface. Win win!!
+*/
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxCells)
+        return;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellOffsets[i] = INVALID;
+    cellCounts[i] = 0;
+    mortonSortedCellHashes[i] = i;
+}
+
+[numthreads(128, 1, 1)]
+void InsertSimplices (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    // calculate simplex cell index:
+    int level = GridLevelForSize(simplexBounds[i].MaxAxisLength());
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((simplexBounds[i].Center() - solverBounds[0].min_)/ cellSize).xyz,level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    // insert simplex in cell:
+    uint cellIndex = GridHash(cellCoord);
+    cellCoords[i] = cellCoord;
+    InterlockedAdd(cellCounts[cellIndex],1,offsetInCell[i]);
+
+    // assign minimum morton code to cell 
+    // (there may be hash collisions mapping two coordinates to the same cell, that's why we use atomic minimum)
+    float mortonCellSize = solverBounds[0].MaxAxisLength() / 1024.0;
+    uint morton = EncodeMorton3(floor((simplexBounds[i].Center() - solverBounds[0].min_).xyz / mortonCellSize));
+    InterlockedMin(cellOffsets[cellIndex], morton);
+
+    // clear neighbor count:
+    neighborCounts[i] = 0;
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128,1,1)]
+void MortonSort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds
+    if (indexRight >= maxCells) return;
+    
+    // get morton index for both cells: 
+    uint mortonL = cellOffsets[indexLeft];
+    uint mortonR = cellOffsets[indexRight];
+
+    // get cell counts:
+    uint simplexIndexL = cellCounts[indexLeft];
+    uint simplexIndexR = cellCounts[indexRight];
+
+    uint orderL = mortonSortedCellHashes[indexLeft];
+    uint orderR = mortonSortedCellHashes[indexRight];
+    
+    // Swap entries if order is incorrect
+    if (mortonL > mortonR)
+    {
+        cellCounts[indexLeft] = simplexIndexR;
+        cellCounts[indexRight] = simplexIndexL;
+
+        cellOffsets[indexLeft] = mortonR;
+        cellOffsets[indexRight] = mortonL;
+
+        mortonSortedCellHashes[indexLeft] = orderR;
+        mortonSortedCellHashes[indexRight] = orderL;
+    }
+}
+
+[numthreads(128,1,1)]
+void BuildMortonIndices(uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= maxCells) return; 
+    
+    // build map from cell hash to index in morton-sorted cell data.
+    int index = mortonSortedCellHashes[i];
+    cellHashToMortonIndex[index] = i;
+}
+
+[numthreads(128, 1, 1)]
+void SortSimplices (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    // write simplex index to its index in the grid:
+    uint cellIndex = cellHashToMortonIndex[GridHash(R_cellCoords[i])]; 
+    uint gridIndex = R_cellOffsets[cellIndex] + R_offsetInCell[i];
+    sortedSimplexIndices[gridIndex] = i; // maps from index in grid to simplex index.
+
+    // flag fluid simplices with 1. we'll later do a prefix sum of this array 
+    // to get a compact list of grid-sorted fluid indices.
+    int size; 
+    int p = simplices[GetSimplexStartAndSize(i, size)];
+    sortedFluidIndices[gridIndex] = ((phases[p] & Fluid) != 0) ? 1:0;
+}
+
+[numthreads(1, 1, 1)]
+void BuildFluidDispatch (uint3 id : SV_DispatchThreadID) 
+{
+    // since we are using *exclusive* prefix sum,
+    // we must add the last entries of both buffers together to get total count of fluid simplices.
+
+    int lastEntry = pointCount + edgeCount + triangleCount - 1;
+    fluidDispatchBuffer[3] = sortedSimplexToFluid[lastEntry] + sortedFluidIndices[lastEntry];
+    fluidDispatchBuffer[0] = fluidDispatchBuffer[3] / 128 + 1;
+}
+
+[numthreads(128, 1, 1)]
+void SortFluidSimplices (uint3 id : SV_DispatchThreadID)  //rename to sort fluid data.
+{
+    // check all simplices. 
+    uint i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellIndex = cellHashToMortonIndex[GridHash(R_cellCoords[i])];
+    uint gridIndex = R_cellOffsets[cellIndex] + R_offsetInCell[i];
+
+    // copy the data of first particle in each fluid simplex to sorted arrays 
+    // using prefix sum results: same as grid order, but contiguous. 
+    int size; 
+    int p = simplices[GetSimplexStartAndSize(i, size)];
+
+    if ((phases[p] & Fluid) != 0)
+    {
+        int fluidIndex = sortedSimplexToFluid[gridIndex];
+        sortedFluidIndices[fluidIndex] = i;
+
+        sortedPositions[fluidIndex] = positions[p];
+        sortedFluidMaterials[fluidIndex] = fluidMaterials[p];
+        sortedFluidInterface[fluidIndex] = fluidInterface[p];
+        sortedPrincipalRadii[fluidIndex] = principalRadii[p];
+    }
+    else
+        sortedSimplexToFluid[gridIndex] = -1;
+}
+
+int GetSimplexGroup(in int simplexStart,in int simplexSize, out int flags, out int category, out int mask, out bool restPositionsEnabled)
+{
+    flags = 0;
+    int group = 0;
+    category = 0;
+    mask = 0;
+    restPositionsEnabled = false;
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        group = max(group, phases[particleIndex] & GroupMask);
+        flags |= phases[particleIndex] & ~GroupMask; // get flags from phase
+        category |= filters[particleIndex] & CategoryMask; // get category from filter
+        mask |= (filters[particleIndex] & MaskMask) >> 16; // get mask from filter
+        restPositionsEnabled = restPositionsEnabled || (restPositions[particleIndex].w > 0.5f);
+    }
+
+    return group;
+}
+
+struct simplexData
+{
+    int index;
+    int start;
+    int size;
+    int category;
+    int mask;
+    int flags;
+    int group;
+    bool restPosEnabled;
+};
+
+simplexData GetSimplexData(int indexInGrid)
+{
+    simplexData s;
+    s.index = sortedSimplexIndices[indexInGrid];
+    s.start = GetSimplexStartAndSize(s.index, s.size);
+    s.group = GetSimplexGroup(s.start, s.size, s.flags, s.category, s.mask, s.restPosEnabled);
+    return s;
+}
+
+void InteractionTest(simplexData a, simplexData b)
+{   
+    if ((a.flags & Fluid) == 0 || (b.flags & Fluid) == 0)
+    {
+        // immediately reject simplex pairs that share particles:
+        int j = 0;
+        for (int i = 0; i < a.size; ++i)
+            for (j = 0; j < b.size; ++j)
+                if (simplices[a.start + i] == simplices[b.start + j])
+                    return;
+
+        // if all particles are in the same group:
+        if (a.group == b.group)
+        {
+            // if none are self-colliding, reject the pair.
+            if ((a.flags & b.flags & SelfCollide) == 0)
+                return;
+        }
+        // category-based filtering:
+        else if ((a.mask & b.category) == 0 || (b.mask & a.category) == 0)
+            return;
+
+        // swap simplices (except for category) so that B is always the one-sided one.
+        int categoryA = a.category;
+        int categoryB = b.category;
+        if ((a.flags & OneSided) != 0 && categoryA < categoryB)
+        {
+            simplexData t = a;
+            a = b;
+            b = t; 
+        }
+
+        float4 simplexBary = BarycenterForSimplexOfSize(a.size);
+        float4 simplexPoint;
+
+        Simplex simplexShape;
+        simplexShape.simplexStart = b.start;
+        simplexShape.simplexSize = b.size;
+        simplexShape.simplices = simplices;
+        simplexShape.positions = restPositions;
+        float simplexRadiusA = 0; float simplexRadiusB = 0;
+
+        // skip the contact if there's self-intersection at rest:
+        if (a.group == b.group && (a.restPosEnabled || b.restPosEnabled))
+        {
+            SurfacePoint restPoint = Optimize(simplexShape, restPositions, restOrientations, principalRadii,
+                                             simplices, a.start, a.size, simplexBary, simplexPoint, 4, 0);
+                                             
+            for (j = 0; j < a.size; ++j)
+                simplexRadiusA += principalRadii[simplices[a.start + j]].x * simplexBary[j];
+
+            for (j = 0; j < b.size; ++j)
+                simplexRadiusB += principalRadii[simplices[b.start + j]].x * restPoint.bary[j];
+
+            // compare distance along contact normal with radius.
+            if (dot(simplexPoint - restPoint.pos, restPoint.normal) < simplexRadiusA + simplexRadiusB)
+                return;
+        }
+        
+        simplexBary = BarycenterForSimplexOfSize(a.size);
+        simplexShape.positions = positions;
+
+        SurfacePoint surfacePoint = Optimize(simplexShape, positions, orientations, principalRadii,
+                                             simplices, a.start, a.size, simplexBary, simplexPoint);
+
+        simplexRadiusA = 0; simplexRadiusB = 0;
+        float4 velocityA = FLOAT4_ZERO, velocityB = FLOAT4_ZERO, normalB = FLOAT4_ZERO;
+        
+        for (j = 0; j < a.size; ++j)
+        {
+            int particleIndex = simplices[a.start + j];
+            simplexRadiusA += principalRadii[particleIndex].x * simplexBary[j];
+            velocityA += velocities[particleIndex] * simplexBary[j];
+        }
+
+        for (j = 0; j < b.size; ++j)
+        {
+            int particleIndex = simplices[b.start + j];
+            simplexRadiusB += principalRadii[particleIndex].x * surfacePoint.bary[j];
+            velocityB += velocities[particleIndex] * surfacePoint.bary[j];
+            normalB += asfloat(normals[particleIndex]) * surfacePoint.bary[j];
+        }
+
+        float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+        float vel = dot(velocityA    - velocityB,        surfacePoint.normal);
+
+        // check if the projected velocity along the contact normal will get us within collision distance.
+        if (vel * deltaTime + dAB <= simplexRadiusA + simplexRadiusB + collisionMargin)
+        {
+            // adapt collision normal for one-sided simplices:
+            if ((b.flags & OneSided) != 0 && categoryA < categoryB)
+                OneSidedNormal(normalB, surfacePoint.normal);
+
+            uint count = particleContacts.IncrementCounter();
+            if (count < maxContacts)
+            {
+                contact c = (contact)0;
+                
+                c.normal = surfacePoint.normal;
+                c.pointA = simplexBary;
+                c.pointB = surfacePoint.bary;
+                c.bodyA = a.index;
+                c.bodyB = b.index;
+
+                particleContacts[count] = c;
+                contactPairs[count] = uint2(c.bodyA,c.bodyB);
+                    
+                InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                InterlockedMax(dispatchBuffer[3], count + 1);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= pointCount + edgeCount + triangleCount) return;
+       
+    // current cell:
+    int4 cellCoord = R_cellCoords[i];
+    uint cellIndex = cellHashToMortonIndex[GridHash(cellCoord)];
+    uint n = R_cellOffsets[cellIndex];
+    uint end = n + R_cellCounts[cellIndex]; 
+    uint indexInGrid = n + R_offsetInCell[i];
+
+    simplexData data1 = GetSimplexData(indexInGrid);
+    
+    // in current cell, only consider simplices that appear after this one:
+    for (++indexInGrid; indexInGrid < end; ++indexInGrid)
+        InteractionTest(data1,GetSimplexData(indexInGrid));
+    
+    // neighbour cells ahead of the current one in the same level:
+    for(int j = 0; j < 13; ++j)
+    {
+        // get first simplex in neighbor cell: 
+        cellIndex = cellHashToMortonIndex[GridHash(cellCoord + aheadCellNeighborhood[j])];
+        n = R_cellOffsets[cellIndex]; 
+        end = n + R_cellCounts[cellIndex]; 
+        
+        // iterate through all simplices in neighbor cell:
+        for (; n < end; ++n)
+            InteractionTest(data1,GetSimplexData(n));
+    }
+    
+    // higher grid levels:
+    for (uint m = 1; m <= R_levelPopulation[0]; ++m)
+    {
+        uint l = R_levelPopulation[m];
+        if (l <= (uint)cellCoord.w) continue;
+
+        int4 parentCellCoords = GetParentCellCoords(cellCoord, l);
+    
+        for (int j = 0; j < 27; ++j)
+        {
+            // get first simplex in neighbor cell: 
+            cellIndex = cellHashToMortonIndex[GridHash(parentCellCoords + cellNeighborhood[j])];
+            n = R_cellOffsets[cellIndex]; 
+            end = n + R_cellCounts[cellIndex]; 
+            
+            // iterate through all simplices in neighbor cell:
+            for (; n < end; ++n)
+                InteractionTest(data1,GetSimplexData(n));
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void FindFluidNeighborsInSameLevel (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    // current cell:
+    int4 cellCoord = R_cellCoords[sortedFluidIndices[i]];
+    int4 neighborCoord, particleCoord;
+    uint cellIndex, n, end;
+
+    float4 d;
+    float interactionRadius, cellSize;
+    int fluidB, level;
+       
+    float4 posA = sortedPositions[i];
+    float radA = sortedFluidMaterials[i].x;
+
+    uint count = 0;
+
+    // neighbour cells in same level. We don't need atomics for this, 
+    // and we can guarantee that the neighbors for each particle will
+    // appear in sorted order.
+    for(int j = 0; j < 27; ++j)
+    {
+        // get cell start/end
+        neighborCoord = cellCoord + cellNeighborhood[j];
+        cellIndex = cellHashToMortonIndex[GridHash(neighborCoord)];
+        n = R_cellOffsets[cellIndex]; 
+        end = n + R_cellCounts[cellIndex]; 
+                
+        // iterate through all simplices in neighbor cell:
+        for (; n < end; ++n)
+        {
+            fluidB = sortedSimplexToFluid[n];
+            if (fluidB >= 0 && fluidB != (int)i)
+            { 
+                // due to hash collisions, two neighboring cells might map to the same
+                // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                // So we only consider particles that have the same spatial coordinates as the cell.
+                level = GridLevelForSize(sortedFluidMaterials[fluidB].x);
+                cellSize = CellSizeOfLevel(level);
+                particleCoord = int4(floor((sortedPositions[fluidB] - solverBounds[0].min_)/ cellSize).xyz,level);
+
+                if (any (particleCoord - neighborCoord))
+                    continue;
+
+                // calculate particle center distance:
+                d = posA - sortedPositions[fluidB]; d.w = 0;
+                interactionRadius = max(radA, sortedFluidMaterials[fluidB].x);
+                
+                if (dot(d,d) <= interactionRadius * interactionRadius && count < maxNeighbors)
+                    neighbors[maxNeighbors * i + (count++)] = fluidB; 
+            }
+        }
+    }
+
+    neighborCounts[i] = count;
+}
+
+[numthreads(128, 1, 1)]
+void FindFluidNeighborsInUpperLevels (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+       
+    int s = sortedFluidIndices[i];
+    
+    int4 cellCoord = R_cellCoords[s];
+    int4 parentCellCoords, neighborCoord, particleCoord;
+    uint cellIndex, n, end;
+
+    float4 d;
+    float interactionRadius, cellSize;
+    int fluidB, level;
+
+    float4 posA = sortedPositions[i];
+    float radA = sortedFluidMaterials[i].x;
+    
+    for (uint m = 1; m <= R_levelPopulation[0]; ++m)
+    {
+        uint l = R_levelPopulation[m];
+
+        // skip levels below this particle's level.
+        if (l <= (uint)cellCoord.w) continue; 
+
+        parentCellCoords = GetParentCellCoords(cellCoord, l);
+    
+        for (int j = 0; j < 27; ++j)
+        {
+            // get cell start/end
+            neighborCoord = parentCellCoords + cellNeighborhood[j];
+            cellIndex = cellHashToMortonIndex[GridHash(neighborCoord)];
+            n = R_cellOffsets[cellIndex]; 
+            end = n + R_cellCounts[cellIndex]; 
+            
+            // iterate through all simplices in neighbor cell:
+            for (; n < end; ++n)
+            {
+                fluidB = sortedSimplexToFluid[n];
+                if (fluidB >= 0)
+                {
+                    // due to hash collisions, two neighboring cells might map to the same
+                    // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                    // So we only consider particles that have the same spatial coordinates as the cell.
+                    level = GridLevelForSize(sortedFluidMaterials[fluidB].x);
+                    cellSize = CellSizeOfLevel(level);
+                    particleCoord = int4(floor((sortedPositions[fluidB] - solverBounds[0].min_)/ cellSize).xyz,level);
+
+                    if (any (particleCoord - neighborCoord))
+                        continue;
+
+                    // calculate particle center distance:
+                    d = posA - sortedPositions[fluidB]; d.w = 0;
+                    interactionRadius = max(radA, sortedFluidMaterials[fluidB].x);
+                    
+                    if (dot(d,d) <= interactionRadius * interactionRadius)
+                    {            
+                        uint entryA, entryB;
+                        InterlockedAdd(neighborCounts[i], 1, entryA);
+                        InterlockedAdd(neighborCounts[fluidB], 1, entryB);
+                        
+                        if (entryA < maxNeighbors && entryB < maxNeighbors)
+                        {
+                            neighbors[maxNeighbors * i + entryA] = fluidB; 
+                            neighbors[maxNeighbors * fluidB + entryB] = i;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // convert simplex index to start in indices array.
+    int o;
+    sortedFluidIndices[i] = simplices[GetSimplexStartAndSize(s, o)];
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta
new file mode 100644
index 00000000..15d29e6b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 282fd6222e54d48fea7f2d1a74501fa9
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute b/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute
new file mode 100644
index 00000000..e990898d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute
@@ -0,0 +1,72 @@
+#pragma kernel BuildMesh
+
+#include "MathUtils.cginc"
+
+struct RendererData
+{
+    float4 color;
+    float radiusScale;
+};
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> orientations;
+StructuredBuffer<float4> radii;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<int> rendererIndices;
+StructuredBuffer<RendererData> rendererData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer indices;
+
+uint firstParticle;
+uint particleCount;
+
+[numthreads(128, 1, 1)]
+void BuildMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particleCount) return;
+    
+    int p = particleIndices[firstParticle + i];
+    int r = rendererIndices[firstParticle + i];
+
+    // <<2 = multiply by 4 to get byte address, since a float/int is 4 bytes in size.
+    
+    // particle data is the same for all 4 vertices:
+    for (uint v = i*4; v < i*4 + 4; ++v)
+    {
+        int base = v*23;
+        
+        // pos
+        vertices.Store4(base<<2, asuint(float4(positions[p].xyz, 1)));
+
+        // color:
+        vertices.Store4((base+7)<<2, asuint(colors[p] * rendererData[r].color));
+        
+        // b1, b2, b3:
+        vertices.Store4((base+11)<<2, asuint( float4(rotate_vector(orientations[p],float3(1,0,0)),radii[p].x * radii[p].w * rendererData[r].radiusScale) ));
+        vertices.Store4((base+15)<<2, asuint( float4(rotate_vector(orientations[p],float3(0,1,0)),radii[p].y * radii[p].w * rendererData[r].radiusScale) ));
+        vertices.Store4((base+19)<<2, asuint( float4(rotate_vector(orientations[p],float3(0,0,1)),radii[p].z * radii[p].w * rendererData[r].radiusScale) ));
+    }
+
+    //different offset for each vertex:
+    int base = i*4;
+    vertices.Store3((base*23 + 4)<<2, asuint(float3(1,1,0)));
+    vertices.Store3(((base+1)*23 + 4)<<2, asuint(float3(-1,1,0)));
+    vertices.Store3(((base+2)*23 + 4)<<2, asuint(float3(-1,-1,0)));
+    vertices.Store3(((base+3)*23 + 4)<<2, asuint(float3(1,-1,0)));
+
+    // indices:
+    indices.Store((i*6)<<2, asuint(i*4+2));
+    indices.Store((i*6+1)<<2, asuint(i*4+1));
+    indices.Store((i*6+2)<<2, asuint(i*4));
+
+    indices.Store((i*6+3)<<2, asuint(i*4+3));
+    indices.Store((i*6+4)<<2, asuint(i*4+2));
+    indices.Store((i*6+5)<<2, asuint(i*4));
+}
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta
new file mode 100644
index 00000000..c28621d1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a5989e4df4ce944ea96d566e7df4d68a
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc b/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc
new file mode 100644
index 00000000..e9ea2742
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc
@@ -0,0 +1,158 @@
+#ifndef PATHFRAME_INCLUDE
+#define PATHFRAME_INCLUDE
+
+#include "MathUtils.cginc"
+
+struct pathFrame
+{
+    float3 position;
+    float3 tangent;
+    float3 normal;
+    float3 binormal;
+
+    float4 color;
+    float thickness;
+
+
+    void Initialize(float3 position, float3 tangent, float3 normal, float3 binormal, float4 color, float thickness){
+        this.position = position;
+        this.normal = normal;
+        this.tangent = tangent;
+        this.binormal = binormal;
+        this.color = color;
+        this.thickness = thickness;
+    }
+
+    void Reset()
+    {
+        position = float3(0,0,0);
+        tangent = float3(0,0,1);
+        normal = float3(0,1,0);
+        binormal = float3(1,0,0);
+        color = float4(1,1,1,1);
+        thickness = 0;
+    }
+
+    void SetTwist(float twist)
+    {
+        quaternion twistQ = axis_angle(tangent, radians(twist));
+        normal = rotate_vector(twistQ, normal);
+        binormal = rotate_vector(twistQ, binormal);
+    }
+
+    void Transport(pathFrame frame, float twist)
+    {
+        // Calculate delta rotation:
+        quaternion rotQ = from_to_rotation(tangent, frame.tangent);
+        quaternion twistQ = axis_angle(frame.tangent, radians(twist));
+        quaternion finalQ = qmul(twistQ , rotQ);
+
+        // Rotate previous frame axes to obtain the new ones:
+        normal = rotate_vector(finalQ, normal);
+        binormal = rotate_vector(finalQ, binormal);
+        tangent = frame.tangent;
+        position = frame.position;
+        thickness = frame.thickness;
+        color = frame.color;
+    }
+
+    void Transport(float3 newPosition, float3 newTangent, float twist)
+    {
+        // Calculate delta rotation:
+        quaternion rotQ = from_to_rotation(tangent, newTangent);
+        quaternion twistQ = axis_angle(newTangent, radians(twist));
+        quaternion finalQ = qmul(twistQ, rotQ);
+
+        // Rotate previous frame axes to obtain the new ones:
+        normal = rotate_vector(finalQ, normal);
+        binormal = rotate_vector(finalQ, binormal);
+        tangent = newTangent;
+        position = newPosition;
+
+    }
+
+    // Transport, hinting the normal.
+    void Transport(float3 newPosition, float3 newTangent, float3 newNormal, float twist)
+    {
+        normal = rotate_vector(axis_angle(newTangent,radians(twist)), newNormal);
+        tangent = newTangent;
+        binormal = cross(normal, tangent);
+        position = newPosition;
+    }
+
+    float3x3 ToMatrix(int mainAxis)
+    {
+        float3x3 basis;
+
+        if (mainAxis == 0)
+        {
+            basis._m00_m10_m20 = tangent;
+            basis._m01_m11_m21 = binormal;
+            basis._m02_m12_m22 = normal;
+        }
+        else if (mainAxis == 1)
+        {
+            basis._m01_m11_m21 = tangent;
+            basis._m02_m12_m22 = binormal;
+            basis._m00_m10_m20 = normal;
+        }
+        else
+        {
+            basis._m02_m12_m22 = tangent;
+            basis._m00_m10_m20 = binormal;
+            basis._m01_m11_m21 = normal;
+        }
+
+       /*int xo = (mainAxis) % 3;
+        int yo = (mainAxis + 1) % 3;
+        int zo = (mainAxis + 2) % 3;
+
+        basis[xo] = tangent;
+        basis[yo] = binormal;
+        basis[zo] = normal;*/
+
+        return basis;
+    }
+};
+
+void WeightedSum(float w1, float w2, float w3, in pathFrame c1, in pathFrame c2, in pathFrame c3, out pathFrame sum)
+{
+    sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
+    sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
+    sum.position.z = c1.position.z * w1 + c2.position.z * w2 + c3.position.z * w3;
+
+    sum.tangent.x = c1.tangent.x * w1 + c2.tangent.x * w2 + c3.tangent.x * w3;
+    sum.tangent.y = c1.tangent.y * w1 + c2.tangent.y * w2 + c3.tangent.y * w3;
+    sum.tangent.z = c1.tangent.z * w1 + c2.tangent.z * w2 + c3.tangent.z * w3;
+
+    sum.normal.x = c1.normal.x * w1 + c2.normal.x * w2 + c3.normal.x * w3;
+    sum.normal.y = c1.normal.y * w1 + c2.normal.y * w2 + c3.normal.y * w3;
+    sum.normal.z = c1.normal.z * w1 + c2.normal.z * w2 + c3.normal.z * w3;
+
+    sum.binormal.x = c1.binormal.x * w1 + c2.binormal.x * w2 + c3.binormal.x * w3;
+    sum.binormal.y = c1.binormal.y * w1 + c2.binormal.y * w2 + c3.binormal.y * w3;
+    sum.binormal.z = c1.binormal.z * w1 + c2.binormal.z * w2 + c3.binormal.z * w3;
+
+    sum.color.x = c1.color.x * w1 + c2.color.x * w2 + c3.color.x * w3;
+    sum.color.y = c1.color.y * w1 + c2.color.y * w2 + c3.color.y * w3;
+    sum.color.z = c1.color.z * w1 + c2.color.z * w2 + c3.color.z * w3;
+    sum.color.w = c1.color.w * w1 + c2.color.w * w2 + c3.color.w * w3;
+
+    sum.thickness = c1.thickness * w1 + c2.thickness * w2 + c3.thickness * w3;
+}
+
+pathFrame addFrames(pathFrame c1, pathFrame c2)
+{
+    pathFrame r;
+    r.Initialize(c1.position + c2.position, c1.tangent + c2.tangent, c1.normal + c2.normal, c1.binormal + c2.binormal, c1.color + c2.color, c1.thickness + c2.thickness);
+    return r;
+}
+
+pathFrame multiplyFrame(float f, pathFrame c)
+{
+    pathFrame r;
+    r.Initialize(c.position * f, c.tangent * f, c.normal * f, c.binormal * f, c.color * f, c.thickness * f);
+    return r;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc.meta
new file mode 100644
index 00000000..fa818faa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PathFrame.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 10c2f01e614d74b30b6a489c96e8a0ce
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute b/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute
new file mode 100644
index 00000000..06bf6ae5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute
@@ -0,0 +1,235 @@
+#pragma kernel ParallelTransport
+#pragma kernel Decimate
+#pragma kernel ChaikinSmooth
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    bool usesOrientedParticles;
+};
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> colors;
+
+RWStructuredBuffer<smootherPathData> pathData;
+StructuredBuffer<int> particleIndices;
+
+RWStructuredBuffer<pathFrame> pathFrames;
+StructuredBuffer<int> frameOffsets;
+RWStructuredBuffer<int> decimatedFrameCounts;
+
+RWStructuredBuffer<pathFrame> smoothFrames;
+StructuredBuffer<int> smoothFrameOffsets;
+RWStructuredBuffer<int> smoothFrameCounts;
+
+// Variables set from the CPU
+uint chunkCount;
+
+void PathFrameFromParticle(inout pathFrame frame, int particleIndex, bool useOrientedParticles, bool interpolateOrientation = false)
+{
+    // Update current frame values from particles:
+    frame.position = renderablePositions[particleIndex].xyz;
+    frame.thickness = principalRadii[particleIndex][0];
+    frame.color = colors[particleIndex];
+
+    // Use particle orientation if possible:
+    if (useOrientedParticles)
+    {
+        quaternion current = renderableOrientations[particleIndex];
+        quaternion previous = renderableOrientations[max(0, particleIndex - 1)];
+        float4x4 average = q_toMatrix(interpolateOrientation ? q_slerp(current, previous, 0.5f) : current);
+        frame.normal = average._m01_m11_m21;
+        frame.binormal = average._m00_m10_m20;
+        frame.tangent = average._m02_m12_m22;
+    }
+}
+
+
+[numthreads(128, 1, 1)]
+void ParallelTransport (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    pathFrame nextFrame;
+    pathFrame currFrame; 
+    pathFrame prevFrame;
+
+    nextFrame.Reset();
+    currFrame.Reset();
+    prevFrame.Reset();
+
+    int firstIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int frameCount = frameOffsets[i] - firstIndex;
+
+    // initialize current and previous frame:
+    PathFrameFromParticle(currFrame, particleIndices[firstIndex], pathData[i].usesOrientedParticles, false);
+    prevFrame = currFrame;
+
+    // parallel transport:
+    for (int m = 1; m <= frameCount; ++m)
+    {
+        int index = firstIndex + min(m, frameCount - 1);
+        int pIndex = particleIndices[index];
+
+        // generate curve frame from particle:
+        PathFrameFromParticle(nextFrame, pIndex, pathData[i].usesOrientedParticles);
+
+        if (pathData[i].usesOrientedParticles)
+        {
+            // copy frame directly.
+            prevFrame = currFrame;
+        }
+        else
+        {
+            // perform parallel transport, using forward / backward average to calculate tangent.
+            // if the average is too small, reuse the previous frame tangent.
+            currFrame.tangent = normalizesafe((currFrame.position - prevFrame.position) + 
+                                              (nextFrame.position - currFrame.position), prevFrame.tangent);
+            prevFrame.Transport(currFrame, pathData[i].twist);
+        }
+
+        // advance current frame:
+        currFrame = nextFrame;
+        pathFrames[firstIndex + m - 1] = prevFrame;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Decimate (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstInputIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int inputFrameCount = frameOffsets[i] - firstInputIndex;
+
+    // no decimation, no work to do, just return:
+    if (pathData[i].decimation < 0.00001f || inputFrameCount < 3)
+    {
+        decimatedFrameCounts[i] = inputFrameCount;
+        return;
+    }
+
+    float scaledThreshold = pathData[i].decimation * pathData[i].decimation * 0.01f;
+
+    int start = 0;
+    int end = inputFrameCount - 1;
+    decimatedFrameCounts[i] = 0;
+
+    while (start < end)
+    {
+        // add starting point:
+        pathFrames[firstInputIndex + decimatedFrameCounts[i]++] = pathFrames[firstInputIndex + start];
+
+        int newEnd = end;
+
+        while (true)
+        {
+            int maxDistanceIndex = 0;
+            float maxDistance = 0;
+            float mu;
+
+            // find the point that's furthest away from the current segment:
+            for (int j = start + 1; j < newEnd; j++)
+            {
+                float3 nearest = NearestPointOnEdge(pathFrames[firstInputIndex + start].position,
+                                                    pathFrames[firstInputIndex + newEnd].position,
+                                                    pathFrames[firstInputIndex + j].position, mu);
+
+                float3 delta = nearest - pathFrames[firstInputIndex + j].position;
+                float d = dot(delta,delta);
+
+                if (d > maxDistance)
+                {
+                    maxDistanceIndex = j;
+                    maxDistance = d;
+                }
+            }
+
+            if (maxDistance <= scaledThreshold)
+                break;
+
+            newEnd = maxDistanceIndex;
+        }
+
+        start = newEnd;
+    }
+
+    // add the last point:
+    pathFrames[firstInputIndex + decimatedFrameCounts[i]++] = pathFrames[firstInputIndex + end];
+
+}
+
+[numthreads(128, 1, 1)]
+void ChaikinSmooth (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstInputIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int inputFrameCount = decimatedFrameCounts[i];
+
+    int firstOutputIndex = smoothFrameOffsets[i];
+
+    int k = (int)pathData[i].smoothing;
+
+    // No work to do. just copy the input to the output:
+    if (k == 0)
+    {
+        smoothFrameCounts[i] = inputFrameCount;
+        for (int j = 0; j < inputFrameCount; ++j)
+            smoothFrames[firstOutputIndex + j] = pathFrames[firstInputIndex + j];
+    }
+    else
+    {
+        // precalculate some quantities:
+        int pCount = (int)pow(2, k);
+        int n0 = inputFrameCount - 1;
+        float twoRaisedToMinusKPlus1 = pow(2, -(k + 1));
+        float twoRaisedToMinusK = pow(2, -k);
+        float twoRaisedToMinus2K = pow(2, -2 * k);
+        float twoRaisedToMinus2KMinus1 = pow(2, -2 * k - 1);
+
+        smoothFrameCounts[i] = (inputFrameCount - 2) * pCount + 2;
+
+        // calculate initial curve points:
+        smoothFrames[firstOutputIndex] = addFrames(multiplyFrame(0.5f + twoRaisedToMinusKPlus1 , pathFrames[firstInputIndex]) , multiplyFrame(0.5f - twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + 1]));
+        smoothFrames[firstOutputIndex + pCount * n0 - pCount + 1] = addFrames(multiplyFrame(0.5f - twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + n0 - 1]) , multiplyFrame(0.5f + twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + n0]));
+
+        // calculate internal points:
+        for (int j = 1; j <= pCount; ++j)
+        {
+            // precalculate coefficients:
+            float F = 0.5f - twoRaisedToMinusKPlus1 - (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2KMinus1);
+            float G = 0.5f + twoRaisedToMinusKPlus1 + (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2K);
+            float H = (j - 1) * j * twoRaisedToMinus2KMinus1;
+
+            for (int l = 1; l < n0; ++l)
+            {
+                WeightedSum(F, G, H,
+                            pathFrames[firstInputIndex + l - 1],
+                            pathFrames[firstInputIndex + l],
+                            pathFrames[firstInputIndex + l + 1],
+                            smoothFrames[firstOutputIndex + (l - 1) * pCount + j]);
+            }
+        }
+
+        // make first and last curve points coincide with original points:
+        smoothFrames[firstOutputIndex] = pathFrames[firstInputIndex];
+        smoothFrames[firstOutputIndex + smoothFrameCounts[i] - 1] = pathFrames[firstInputIndex + inputFrameCount - 1];
+    }
+    
+    // calculate path lengths:
+    pathData[i].smoothLength = 0;
+    for (int j = firstOutputIndex + 1;  j < firstOutputIndex + smoothFrameCounts[i]; ++j)
+        pathData[i].smoothLength += distance(smoothFrames[j-1].position, smoothFrames[j].position);
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta
new file mode 100644
index 00000000..589cc57c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 91c36d3d171884541b751112dfac062c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc b/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc
new file mode 100644
index 00000000..30bfe208
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc
@@ -0,0 +1,13 @@
+#ifndef PHASES_INCLUDE
+#define PHASES_INCLUDE
+
+
+#define CategoryMask 0x0000ffff
+#define MaskMask 0xffff0000
+
+#define GroupMask 0x00ffffff
+#define SelfCollide 1 << 24
+#define Fluid 1 << 25
+#define OneSided 1 << 26
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc.meta
new file mode 100644
index 00000000..290fe950
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Phases.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 96d6b61b6caf54444b039bf6f29c9205
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute
new file mode 100644
index 00000000..151cc86a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute
@@ -0,0 +1,205 @@
+#pragma kernel Clear
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> colliderIndices;
+StructuredBuffer<float4> offsets;
+StructuredBuffer<quaternion> restDarboux;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float4> lambdas;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+RWStructuredBuffer<rigidbody> RW_rigidbodies;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> RW_orientations;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float stepTime;
+float substepTime;
+float timeLeft;
+int steps;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        int orig;
+        InterlockedExchange(RW_rigidbodies[rigidbodyIndex].constraintCount, 0, orig);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        InterlockedAdd(RW_rigidbodies[rigidbodyIndex].constraintCount, 1);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int particleIndex = particleIndices[i];
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+    // calculate time adjusted compliances
+    float2 compliances = stiffnesses[i].xy / (substepTime * substepTime);
+
+    // project particle position to the end of the full step:
+    float4 particlePosition = lerp(prevPositions[particleIndex], positions[particleIndex], substepsToEnd);
+
+    // express pin offset in world space:
+    float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+    float4 predictedPinOffset = worldPinOffset;
+    quaternion predictedRotation = transforms[colliderIndex].rotation;
+
+    float rigidbodyLinearW = 0;
+    float rigidbodyAngularW = 0;
+
+    if (rigidbodyIndex >= 0)
+    {
+        rigidbody rb = rigidbodies[rigidbodyIndex];
+
+        // predict rigidbody transform:
+        transform predictedTrfm = transforms[colliderIndex].Integrate(rb.velocity + asfloat(linearDeltasAsInt[rigidbodyIndex]),
+                                                                      rb.angularVelocity + asfloat(angularDeltasAsInt[rigidbodyIndex]), frameEnd);
+                                                                      
+        // predict offset point position and rb rotation at the end of the step:
+        predictedPinOffset = predictedTrfm.TransformPoint(offsets[i]);
+        predictedRotation = predictedTrfm.rotation;
+
+        // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+        rigidbodyLinearW = rb.inverseMass * rb.constraintCount; 
+        rigidbodyAngularW = RotationalInvMass(rb.inverseInertiaTensor,
+                                              worldPinOffset - rb.com,
+                                              normalizesafe(inertialSolverFrame[0].frame.TransformPoint(particlePosition) - predictedPinOffset)) * rb.constraintCount;
+
+    }
+
+    // Transform pin position to solver space for constraint solving:
+    predictedPinOffset = inertialSolverFrame[0].frame.InverseTransformPoint(predictedPinOffset);
+    predictedRotation = qmul(q_conj(inertialSolverFrame[0].frame.rotation), predictedRotation);
+
+    float4 gradient = particlePosition - predictedPinOffset;
+    float constraint = length(gradient);
+    float4 gradientDir = gradient / (constraint + EPSILON);
+
+    float4 lambda = lambdas[i];
+    float linearDLambda = (-constraint - compliances.x * lambda.w) / (invMasses[particleIndex] + rigidbodyLinearW + rigidbodyAngularW + compliances.x + EPSILON);
+    lambda.w += linearDLambda;
+    float4 correction = linearDLambda * gradientDir;
+    
+    AddPositionDelta(particleIndex, correction * invMasses[particleIndex] / substepsToEnd);
+
+    if (rigidbodyIndex >= 0)
+    {
+        ApplyImpulse(rigidbodyIndex,
+                     -correction / frameEnd,
+                     inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset),
+                     inertialSolverFrame[0].frame);
+    }
+
+    if (rigidbodyAngularW > 0 || invRotationalMasses[particleIndex] > 0)
+    {
+        // bend/twist constraint:
+        quaternion omega = qmul(q_conj(orientations[particleIndex]), predictedRotation);   //darboux vector
+
+        quaternion omega_plus;
+        omega_plus = omega + restDarboux[i];        //delta Omega with - omega_0
+        omega -= restDarboux[i];                    //delta Omega with + omega_0
+        if (dot(omega.xyz, omega.xyz) > dot(omega_plus.xyz, omega_plus.xyz))
+            omega = omega_plus;
+
+        float3 dlambda = (omega.xyz - compliances.y * lambda.xyz) / (compliances.y + invRotationalMasses[particleIndex] + rigidbodyAngularW + EPSILON);
+        lambda.xyz += dlambda;
+
+        //discrete Darboux vector does not have vanishing scalar part:
+        quaternion dlambdaQ = quaternion(dlambda[0], dlambda[1], dlambda[2], 0);
+
+        quaternion orientDelta = asfloat(orientationDeltasAsInt[particleIndex]);
+        orientDelta += qmul(predictedRotation, dlambdaQ) * invRotationalMasses[particleIndex] / substepsToEnd;
+        orientationDeltasAsInt[particleIndex] = asuint(orientDelta);
+        orientationConstraintCounts[particleIndex]++;
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyDeltaQuaternion(rigidbodyIndex,
+                                 predictedRotation,
+                                 -qmul(orientations[particleIndex], dlambdaQ) * rigidbodyAngularW,
+                                 inertialSolverFrame[0].frame, stepTime);
+        }
+    }
+
+    lambdas[i] = lambda;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i];
+
+    ApplyPositionDelta(RW_positions, p, sorFactor);
+    ApplyOrientationDelta(RW_orientations, p, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute.meta
new file mode 100644
index 00000000..23582462
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/PinConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d65f884fa36104c4493d2bc55441b89d
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc b/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc
new file mode 100644
index 00000000..9143d27c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc
@@ -0,0 +1,230 @@
+#ifndef QUATERNION_INCLUDE
+#define QUATERNION_INCLUDE
+
+#define QUATERNION_IDENTITY float4(0, 0, 0, 1)
+
+typedef float4 quaternion;
+
+// Quaternion multiplication
+// http://mathworld.wolfram.com/Quaternion.html
+quaternion qmul(quaternion q1, quaternion q2)
+{
+    return quaternion(
+        q2.xyz * q1.w + q1.xyz * q2.w + cross(q1.xyz, q2.xyz),
+        q1.w * q2.w - dot(q1.xyz, q2.xyz)
+    );
+}
+
+// Vector rotation with a quaternion
+// http://mathworld.wolfram.com/Quaternion.html
+float3 rotate_vector(quaternion r, float3 v)
+{
+    float4 r_c = r * float4(-1, -1, -1, 1);
+    return qmul(r, qmul(float4(v, 0), r_c)).xyz;
+}
+
+// A given angle of rotation about a given axis
+quaternion axis_angle(float3 axis, float angle)
+{
+    float sn = sin(angle * 0.5);
+    float cs = cos(angle * 0.5);
+    return quaternion(axis * sn, cs);
+}
+
+// https://stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
+quaternion from_to_rotation(float3 v1, float3 v2)
+{
+    float4 q;
+    float d = dot(v1, v2);
+    if (d < -0.999999)
+    {
+        float3 right = float3(1, 0, 0);
+        float3 up = float3(0, 1, 0);
+        float3 tmp = cross(right, v1);
+        if (length(tmp) < 0.000001)
+        {
+            tmp = cross(up, v1);
+        }
+        tmp = normalize(tmp);
+        q = axis_angle(tmp, 3.14159265359f);
+    } else if (d > 0.999999) {
+        q = QUATERNION_IDENTITY;
+    } else {
+        q.xyz = cross(v1, v2);
+        q.w = 1 + d;
+        q = normalize(q);
+    }
+    return q;
+}
+
+float4 q_conj(float4 q)
+{
+    return float4(-q.x, -q.y, -q.z, q.w);
+}
+
+// https://jp.mathworks.com/help/aeroblks/quaternioninverse.html
+quaternion q_inverse(quaternion q)
+{
+    quaternion conj = q_conj(q);
+    return conj / (q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
+}
+
+quaternion q_diff(quaternion q1, quaternion q2)
+{
+    return q2 * q_inverse(q1);
+}
+
+quaternion q_look_at(float3 forward, float3 up)
+{
+    forward = normalize(forward);
+    float3 right = normalize(cross(up, forward));
+    up = cross(forward, right);
+
+    float m00 = right.x;
+    float m01 = right.y;
+    float m02 = right.z;
+    float m10 = up.x;
+    float m11 = up.y;
+    float m12 = up.z;
+    float m20 = forward.x;
+    float m21 = forward.y;
+    float m22 = forward.z;
+
+    float num8 = (m00 + m11) + m22;
+    quaternion q = QUATERNION_IDENTITY;
+
+    if (num8 > 0.0)
+    {
+        float num = sqrt(num8 + 1.0);
+        q.w = num * 0.5;
+        num = 0.5 / num;
+        q.x = (m12 - m21) * num;
+        q.y = (m20 - m02) * num;
+        q.z = (m01 - m10) * num;
+        return q;
+    }
+    else if ((m00 >= m11) && (m00 >= m22))
+    {
+        float num7 = sqrt(((1.0 + m00) - m11) - m22);
+        float num4 = 0.5 / num7;
+        q.x = 0.5 * num7;
+        q.y = (m01 + m10) * num4;
+        q.z = (m02 + m20) * num4;
+        q.w = (m12 - m21) * num4;
+        return q;
+    }
+    else if (m11 > m22)
+    {
+        float num6 = sqrt(((1.0 + m11) - m00) - m22);
+        float num3 = 0.5 / num6;
+        q.x = (m10 + m01) * num3;
+        q.y = 0.5 * num6;
+        q.z = (m21 + m12) * num3;
+        q.w = (m20 - m02) * num3;
+        return q;
+    }
+    else
+    {
+        float num5 = sqrt(((1.0 + m22) - m00) - m11);
+        float num2 = 0.5 / num5;
+        q.x = (m20 + m02) * num2;
+        q.y = (m21 + m12) * num2;
+        q.z = 0.5 * num5;
+        q.w = (m01 - m10) * num2;
+        return q;
+    }
+}
+
+quaternion q_slerp(in quaternion a, in quaternion b, float t)
+{
+    // if either input is zero, return the other.
+    if (length(a) == 0.0)
+    {
+        if (length(b) == 0.0)
+            return QUATERNION_IDENTITY;
+        else 
+            return b;
+    }
+    else if (length(b) == 0.0)
+    {
+        return a;
+    }
+    else
+    {
+        float cosHalfAngle = a.w * b.w + dot(a.xyz, b.xyz);
+
+        if (cosHalfAngle >= 1.0 || cosHalfAngle <= -1.0)
+        {
+            return a;
+        }
+        else 
+        {
+            if (cosHalfAngle < 0.0)
+            {
+                b.xyz = -b.xyz;
+                b.w = -b.w;
+                cosHalfAngle = -cosHalfAngle;
+            }
+
+            float blendA;
+            float blendB;
+            if (cosHalfAngle < 0.99)
+            {
+                // do proper slerp for big angles
+                float halfAngle = acos(cosHalfAngle);
+                float sinHalfAngle = sin(halfAngle);
+                float oneOverSinHalfAngle = 1.0 / sinHalfAngle;
+                blendA = sin(halfAngle * (1.0 - t)) * oneOverSinHalfAngle;
+                blendB = sin(halfAngle * t) * oneOverSinHalfAngle;
+            }
+            else
+            {
+                // do lerp if angle is really small.
+                blendA = 1.0 - t;
+                blendB = t;
+            }
+
+            quaternion result = quaternion(blendA * a.xyz + blendB * b.xyz, blendA * a.w + blendB * b.w);
+
+            if (length(result) > 0.0)
+                return normalize(result);
+            else 
+                return QUATERNION_IDENTITY;
+        }
+    }
+}
+
+quaternion q_eulerXYZ(float3 euler) 
+{
+    float3 s, c;
+    sincos(0.5f * euler, s, c);
+    return quaternion(
+        // s.x * c.y * c.z + s.y * s.z * c.x,
+        // s.y * c.x * c.z - s.x * s.z * c.y,
+        // s.z * c.x * c.y - s.x * s.y * c.z,
+        // c.x * c.y * c.z + s.y * s.z * s.x
+        float4(s.xyz, c.x) * c.yxxy * c.zzyz + s.yxxy * s.zzyz * float4(c.xyz, s.x) * float4(1.0f, -1.0f, -1.0f, 1.0f)
+    );
+}
+
+float4x4 q_toMatrix(quaternion q)
+{
+    float xx = q.x * q.x;
+    float xy = q.x * q.y;
+    float xz = q.x * q.z;
+    float xw = q.x * q.w;
+
+    float yy = q.y * q.y;
+    float yz = q.y * q.z;
+    float yw = q.y * q.w;
+
+    float zz = q.z * q.z;
+    float zw = q.z * q.w;
+
+    return float4x4(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw), 0,
+                        2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw), 0,
+                        2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy), 0,
+                        0, 0, 0, 1);
+}
+
+#endif 
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc.meta
new file mode 100644
index 00000000..ad02e0bf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Quaternion.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d586fccea37884cd99448480e05b9efc
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc b/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc
new file mode 100644
index 00000000..ddd2b711
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc
@@ -0,0 +1,30 @@
+#ifndef QUERYDEFS_INCLUDE
+#define QUERYDEFS_INCLUDE
+
+#define SPHERE_QUERY 0
+#define BOX_QUERY 1
+#define RAY_QUERY 2
+
+struct queryShape
+{
+    float4 center;
+    float4 size;
+    int type;
+    float contactOffset;
+    float maxDistance;
+    int filter;
+};
+
+struct queryResult
+{
+    float4 simplexBary; // point A, expressed as simplex barycentric coords for simplices.
+    float4 queryPoint; // point B, expressed as a solver-space position.
+    float4 normal;
+    float dist;
+    float distAlongRay; 
+    int simplexIndex;
+    int queryIndex;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta
new file mode 100644
index 00000000..55f203af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: aa793a9f45d044bb9af2361e9c92f11d
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute b/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute
new file mode 100644
index 00000000..a02d9f39
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute
@@ -0,0 +1,132 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+struct Ray : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4x4 simplexToSolver = TRS(pos.xyz, orientation, radii.xyz);
+        float4x4 solverToSimplex = Inverse(simplexToSolver);
+        float4x4 colliderToSimplex = mul(solverToSimplex, TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+
+        // express ray in simplex space (ellipsoid == scaled sphere)
+        float4 rayOrigin = mul(colliderToSimplex, float4(s.center.xyz,1));
+        float4 rayDirection = normalizesafe(mul(colliderToSimplex, float4(s.size.xyz,0)));
+
+        float rayDistance = RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3(0,0,0), 1);
+
+        if (rayDistance < 0)
+        {
+            pos = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+            float mu;
+            float4 centerLine = NearestPointOnEdge(s.center * colliderToSolver.scale, (s.center + s.size) * colliderToSolver.scale, pos, mu);
+            float4 centerToPoint = pos - centerLine;
+            float distanceToCenter = length(centerToPoint);
+
+            float4 normal = centerToPoint / (distanceToCenter + EPSILON);
+
+            projectedPoint.pos = colliderToSolver.TransformPointUnscaled(centerLine + normal * s.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+        else
+        {
+            float4 rayPoint = mul(simplexToSolver, float4((rayOrigin + rayDirection * rayDistance).xyz,1));
+            float4 normal = normalizesafe(float4((pos - rayPoint).xyz,0));
+
+            projectedPoint.pos = rayPoint + normal * s.contactOffset;
+            projectedPoint.normal = normal;
+        }
+
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*RAY_QUERY]) return; 
+   
+    int firstPair = contactOffsetsPerType[RAY_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Ray rayShape;
+    rayShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    rayShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(rayShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos, surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= rayShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            float4 pointOnRay = surfacePoint.pos + surfacePoint.normal * c.dist;
+            c.distAlongRay = dot(pointOnRay.xyz - rayShape.s.center.xyz, normalizesafe(rayShape.s.size.xyz));
+
+            results[count] = c;
+            
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta
new file mode 100644
index 00000000..5228b817
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: cc1e43b48b9764f8585de0bd68298b1c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc b/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc
new file mode 100644
index 00000000..9038eef5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc
@@ -0,0 +1,108 @@
+#ifndef RIGIDBODY_INCLUDE
+#define RIGIDBODY_INCLUDE
+
+#include "InertialFrame.cginc"
+#include "InterlockedUtils.cginc"
+#include "Integration.cginc"
+
+RWStructuredBuffer<uint4> linearDeltasAsInt;
+RWStructuredBuffer<uint4> angularDeltasAsInt;
+
+struct rigidbody
+{
+    float4x4 inverseInertiaTensor;
+    float4 velocity;
+    float4 angularVelocity;
+    float4 com;
+    float inverseMass;
+         
+    int constraintCount;
+    int pad1;
+    int pad2;
+};
+
+StructuredBuffer<rigidbody> rigidbodies;
+
+void CalculateContactMassesB(in rigidbody rb,
+                             in transform t,
+                             float4 pointB,
+                             float4 normal,
+                             float4 bitangent,
+                             float4 tangent,
+                             out float normalInvMassB,
+                             out float tangentInvMassB,
+                             out float bitangentInvMassB)
+{
+    float4 rB = t.TransformPoint(pointB) - rb.com;
+
+    // initialize inverse linear masses:
+    normalInvMassB = tangentInvMassB = bitangentInvMassB = rb.inverseMass;
+    normalInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, normal);
+    tangentInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, tangent);
+    bitangentInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, bitangent);
+}
+
+float4 GetRigidbodyVelocityAtPoint(in rigidbody rb,
+                                   float4 pnt,
+                                   float4 linearDelta,
+                                   float4 angularDelta,
+                                   in inertialFrame frame)
+{
+    float4 linearVel  = rb.velocity + linearDelta;
+    float4 angularVel = rb.angularVelocity + angularDelta;
+    float4 r = frame.frame.TransformPoint(pnt) - rb.com;
+
+    // calculate rigidbody velocity. (point is assumed to be expressed in solver space, convert it to world space):
+    float4 wsRigidbodyVel = linearVel + float4(cross(angularVel.xyz, r.xyz), 0);
+
+    // calculate solver velocity:
+    float4 wsSolverVelocity = frame.velocity + float4(cross(frame.angularVelocity.xyz, pnt.xyz), 0);
+
+    // convert the resulting velocity back to solver space:
+    return frame.frame.InverseTransformVector(wsRigidbodyVel - wsSolverVelocity);
+};
+
+void AtomicAddLinearDelta(in int rigidbodyIndex, in float4 delta)
+{
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 0, delta.x);
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 1, delta.y);
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 2, delta.z);
+}
+
+void AtomicAddAngularDelta(in int rigidbodyIndex, in float4 delta)
+{
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 0, delta.x);
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 1, delta.y);
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 2, delta.z);
+}
+
+void ApplyImpulse(int rigidbodyIndex,
+                  float4 impulse,
+                  float4 pnt,
+                  in transform frame)
+{
+    float4 impulseWS = frame.TransformVector(impulse);
+    float4 r = frame.TransformPoint(pnt) - rigidbodies[rigidbodyIndex].com;
+
+    float4 linearDelta = rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
+    float4 angularDelta = mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, float4(cross(r.xyz, impulseWS.xyz), 0));
+    
+    AtomicAddLinearDelta (rigidbodyIndex, linearDelta);
+    AtomicAddAngularDelta(rigidbodyIndex, angularDelta);
+}
+
+void ApplyDeltaQuaternion(int rigidbodyIndex,
+                          quaternion rotation,
+                          quaternion delta,
+                          in transform frame,
+                          float dt)
+{
+    quaternion rotationWS = qmul(frame.rotation, rotation);
+    quaternion deltaWS = qmul(frame.rotation, delta);
+
+    // convert quaternion delta to angular acceleration:
+    quaternion newRotation = normalize(rotationWS + deltaWS);
+    AtomicAddAngularDelta(rigidbodyIndex, DifferentiateAngular(newRotation, rotationWS, dt));
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta
new file mode 100644
index 00000000..68dede37
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 157a770866f4047a5b8a08e6aca2f1bf
+ShaderIncludeImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute
new file mode 100644
index 00000000..57ee32be
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute
@@ -0,0 +1,109 @@
+#pragma kernel UpdateChainMesh
+
+#include "PathFrame.cginc"
+
+struct chainRendererData
+{
+    int modifierOffset;
+    float twistAnchor;
+    float twist;
+    uint usesOrientedParticles;
+
+    float4 scale;
+};
+
+struct chunkData
+{
+    int rendererIndex;
+    int offset; // index of the first element for each chunk.
+};
+
+struct linkModifier
+{
+    float3 translation;
+    float3 scale;
+    float3 rotation;
+
+    void Clear()
+    {
+        translation = float3(0,0,0);
+        scale =  float3(1,1,1);
+        rotation = float3(0,0,0);
+    }
+};
+
+StructuredBuffer<chainRendererData> rendererData;
+StructuredBuffer<chunkData> chunksData;
+StructuredBuffer<linkModifier> modifiers;
+StructuredBuffer<int2> elements;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> colors;
+float4x4 solverToWorld;
+
+RWStructuredBuffer<float4x4> instanceTransforms;
+RWStructuredBuffer<float4x4> invInstanceTransforms;
+RWStructuredBuffer<float4> instanceColors;
+
+uint chunkCount;
+
+[numthreads(32, 1, 1)]
+void UpdateChainMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstIndex = i > 0 ? chunksData[i - 1].offset : 0;
+    uint elementCount = chunksData[i].offset - firstIndex;
+
+    int rendererIndex = chunksData[i].rendererIndex;
+    chainRendererData renderer = rendererData[rendererIndex];
+
+    int firstModifier = rendererIndex > 0 ? rendererData[rendererIndex - 1].modifierOffset : 0;
+    uint modifierCount = renderer.modifierOffset - firstModifier;
+
+    linkModifier modifier;
+    modifier.Clear();
+
+    pathFrame frame;
+    frame.Reset();
+
+    float twist = -renderer.twist * elementCount * renderer.twistAnchor;
+    frame.SetTwist(twist);
+
+    // parallel transport:
+    for (uint m = 0; m < elementCount; ++m)
+    {
+        if (modifierCount > 0)
+            modifier = modifiers[firstModifier + m % modifierCount];
+
+        int index = firstIndex + m;
+        float4 pos     = renderablePositions[elements[index].x];
+        float4 nextPos = renderablePositions[elements[index].y];
+        float4 vect = nextPos - pos;
+        float3 tangent = normalizesafe(vect.xyz);
+
+        if (renderer.usesOrientedParticles == 1)
+        {
+            frame.Transport(nextPos.xyz, tangent, rotate_vector(renderableOrientations[elements[index].x], float3(0, 1, 0)), twist);
+            twist += renderer.twist;
+        }
+        else
+            frame.Transport(nextPos.xyz, tangent, renderer.twist);
+
+        if (modifierCount > 0)
+            modifier = modifiers[firstModifier + m % (uint)modifierCount];
+
+        quaternion rotation = q_look_at(frame.tangent, frame.normal); 
+        float3 position = (pos + vect * 0.5f).xyz + rotate_vector(rotation, modifier.translation);
+        float3 scale = principalRadii[elements[index].x].x * 2 * renderer.scale.xyz * modifier.scale;
+
+        rotation = qmul(rotation, q_eulerXYZ(radians(modifier.rotation)));
+
+        instanceTransforms[index] = mul(solverToWorld, TRS(position,rotation,scale));
+        invInstanceTransforms[index] = Inverse(instanceTransforms[index]);
+        instanceColors[index] = (colors[elements[index].x] + colors[elements[index].x]) * 0.5;
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta
new file mode 100644
index 00000000..a80ac9cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 64a1b58e2d7634b3b905947b0c5e78c7
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute
new file mode 100644
index 00000000..cdcb106c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute
@@ -0,0 +1,164 @@
+#pragma kernel UpdateRopeMesh
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct extrudedMeshData
+{
+    int sectionVertexCount;
+    float thicknessScale;
+    float uvAnchor;
+    uint normalizeV;
+    float2 uvScale;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<float2> sectionData;
+StructuredBuffer<int> sectionOffsets;
+StructuredBuffer<int> sectionIndices;
+
+StructuredBuffer<int> vertexOffsets;
+StructuredBuffer<int> triangleOffsets;
+StructuredBuffer<int> triangleCounts;
+
+StructuredBuffer<extrudedMeshData> extrudedData;
+StructuredBuffer<smootherPathData> pathData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer tris;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+
+pathFrame LookAt(pathFrame frame, in pathFrame target, out float dist)
+{
+    float3 tangent = target.position - frame.position;
+    dist = length(tangent);
+    tangent /= dist + EPSILON;
+
+    quaternion rotQ = from_to_rotation(frame.tangent, tangent);
+    frame.normal = rotate_vector(rotQ, frame.normal);
+    frame.binormal = rotate_vector(rotQ, frame.binormal);
+    frame.tangent = tangent;
+
+    return frame;
+}
+
+[numthreads(128, 1, 1)]
+void UpdateRopeMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int u = id.x;
+    if (u >= rendererCount) return;
+
+    int k = firstRenderer + u;
+    int s = pathSmootherIndices[k];
+    
+    float3 vertex = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 texTangent = FLOAT4_ZERO;
+
+    int tri = 0;
+    int sectionIndex = 0;
+    int sectionStart = sectionOffsets[sectionIndices[k]];
+    int sectionSegments = (sectionOffsets[sectionIndices[k] + 1] - sectionStart) - 1;
+    int verticesPerSection = sectionSegments + 1;   // the last vertex in each section must be duplicated, due to uv wraparound.
+
+    float smoothLength = 0;
+    int i;
+    for (i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+        smoothLength += pathData[i].smoothLength;
+
+    float vCoord = -extrudedData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * extrudedData[k].uvAnchor;
+    float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+    int firstVertex = vertexOffsets[k];
+    int firstTriangle = triangleOffsets[k];
+
+    // clear out triangle indices for this rope:
+    for (i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+    {
+        int offset = i*3;
+        tris.Store((offset)<<2,  0);
+        tris.Store((offset+1)<<2,0);
+        tris.Store((offset+2)<<2,0);
+    }
+    
+    // for each chunk in the rope:
+    for (i = chunkOffsets[s]; i < chunkOffsets[s+1]; ++i)
+    {
+        int firstFrame = frameOffsets[i];
+        int frameCount = frameCounts[i];
+       
+        for (int f = 0; f < frameCount; ++f)
+        {
+            // Calculate previous and next curve indices:
+            int prevIndex = firstFrame + max(f - 1, 0);
+            int index = firstFrame + f;
+
+            // advance v texcoord:
+            vCoord += extrudedData[k].uvScale.y * (distance(frames[index].position, frames[prevIndex].position) /
+                                              (extrudedData[k].normalizeV ? smoothLength : actualToRestLengthRatio));
+
+            // calculate section thickness and scale the basis vectors by it:
+            float sectionThickness = frames[index].thickness * extrudedData[k].thicknessScale;
+            
+            // Loop around each segment:
+            int nextSectionIndex = sectionIndex + 1;
+            for (int j = 0; j <= sectionSegments; ++j)
+            {
+                // make just one copy of the section vertex:
+                float2 sectionVertex = sectionData[sectionStart + j];
+
+                // calculate normal using section vertex, curve normal and binormal:
+                normal.x = (sectionVertex.x * frames[index].normal.x + sectionVertex.y * frames[index].binormal.x) * sectionThickness;
+                normal.y = (sectionVertex.x * frames[index].normal.y + sectionVertex.y * frames[index].binormal.y) * sectionThickness;
+                normal.z = (sectionVertex.x * frames[index].normal.z + sectionVertex.y * frames[index].binormal.z) * sectionThickness;
+
+                // offset curve position by normal:
+                vertex.x = frames[index].position.x + normal.x;
+                vertex.y = frames[index].position.y + normal.y;
+                vertex.z = frames[index].position.z + normal.z;
+
+                // cross(normal, curve tangent)
+                texTangent.xyz = cross(normal, frames[index].tangent);
+                texTangent.w = -1;
+                
+                int base = (firstVertex + sectionIndex * verticesPerSection + j) * 16;
+                vertices.Store3( base<<2, asuint(vertex));
+                vertices.Store3((base + 3)<<2, asuint(normal));
+                vertices.Store4((base + 6)<<2, asuint(texTangent));
+                vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+                vertices.Store2((base + 14)<<2, asuint(float2(j / (float)sectionSegments * extrudedData[k].uvScale.x, vCoord)));
+
+                if (j < sectionSegments && f < frameCount - 1)
+                {
+                    int offset = firstTriangle * 3;
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + (j + 1)));
+
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + (j + 1)));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + (j + 1)));
+                }
+            }
+            sectionIndex++;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta
new file mode 100644
index 00000000..2861b99f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0d389c799c83d43f38f2486ab16fe902
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute
new file mode 100644
index 00000000..8d3582ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute
@@ -0,0 +1,162 @@
+#pragma kernel UpdateLineMesh
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct lineMeshData
+{
+    float2 uvScale;
+    float thicknessScale;
+    float uvAnchor;
+    uint normalizeV;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<int> vertexOffsets;
+StructuredBuffer<int> triangleOffsets;
+StructuredBuffer<int> triangleCounts;
+
+StructuredBuffer<lineMeshData> rendererData;
+StructuredBuffer<smootherPathData> pathData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer tris;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+float3 localSpaceCamera;
+
+pathFrame LookAt(pathFrame frame, in pathFrame target, out float dist)
+{
+    float3 tangent = target.position - frame.position;
+    dist = length(tangent);
+    tangent /= dist + EPSILON;
+
+    quaternion rotQ = from_to_rotation(frame.tangent, tangent);
+    frame.normal = rotate_vector(rotQ, frame.normal);
+    frame.binormal = rotate_vector(rotQ, frame.binormal);
+    frame.tangent = tangent;
+
+    return frame;
+}
+
+[numthreads(128, 1, 1)]
+void UpdateLineMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int u = id.x;
+    if (u >= rendererCount) return;
+
+    int k = firstRenderer + u;
+    int s = pathSmootherIndices[k];
+    
+    float3 vertex = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 bitangent = FLOAT4_ZERO;
+
+    int tri = 0;
+    int sectionIndex = 0;
+    int firstVertex = vertexOffsets[k];
+    int firstTriangle = triangleOffsets[k];
+
+    float smoothLength = 0;
+    int i = 0;
+    for (i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+        smoothLength += pathData[i].smoothLength;
+
+    float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+    float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+    // clear out triangle indices for this rope:
+    for (i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+    {
+        int offset = i*3;
+        tris.Store((offset)<<2,  0);
+        tris.Store((offset+1)<<2,0);
+        tris.Store((offset+2)<<2,0);
+    }
+    
+    // for each chunk in the rope:
+    for (i = chunkOffsets[s]; i < chunkOffsets[s+1]; ++i)
+    {
+        int firstFrame = frameOffsets[i];
+        int frameCount = frameCounts[i];
+        
+        for (int f = 0; f < frameCount; ++f)
+        {
+            // Calculate previous and next curve indices:
+            int prevIndex = firstFrame + max(f - 1, 0);
+            int index = firstFrame + f;
+
+            // advance v texcoord:
+            vCoord += rendererData[k].uvScale.y * (distance(frames[index].position, frames[prevIndex].position) /
+                                              (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+            // calculate section thickness and scale the basis vectors by it:
+            float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+            normal.x = frames[index].position.x - localSpaceCamera.x;
+            normal.y = frames[index].position.y - localSpaceCamera.y;
+            normal.z = frames[index].position.z - localSpaceCamera.z;
+            normal = normalize(normal);
+
+            bitangent.x = -(normal.y * frames[index].tangent.z - normal.z * frames[index].tangent.y);
+            bitangent.y = -(normal.z * frames[index].tangent.x - normal.x * frames[index].tangent.z);
+            bitangent.z = -(normal.x * frames[index].tangent.y - normal.y * frames[index].tangent.x);
+            bitangent.xyz = normalize(bitangent.xyz);
+            bitangent.w = 1;
+
+            vertex.x = frames[index].position.x - bitangent.x * sectionThickness;
+            vertex.y = frames[index].position.y - bitangent.y * sectionThickness;
+            vertex.z = frames[index].position.z - bitangent.z * sectionThickness;
+            
+            int base = (firstVertex + sectionIndex * 2) * 16;
+            vertices.Store3( base<<2, asuint(vertex));
+            vertices.Store3((base + 3)<<2, asuint(-normal));
+            vertices.Store4((base + 6)<<2, asuint(bitangent));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+            vertices.Store2((base + 14)<<2, asuint(float2(0, vCoord)));
+
+            vertex.x = frames[index].position.x + bitangent.x * sectionThickness;
+            vertex.y = frames[index].position.y + bitangent.y * sectionThickness;
+            vertex.z = frames[index].position.z + bitangent.z * sectionThickness;
+            
+            base = (firstVertex + sectionIndex * 2 + 1) * 16;
+            vertices.Store3( base<<2, asuint(vertex));
+            vertices.Store3((base + 3)<<2, asuint(-normal));
+            vertices.Store4((base + 6)<<2, asuint(bitangent));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+            vertices.Store2((base + 14)<<2, asuint(float2(1, vCoord)));
+
+            if (f < frameCount - 1)
+            {
+           
+                int offset = firstTriangle * 3;
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1)  * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2 + 1));
+
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2 + 1));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1) * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1) * 2 + 1));
+            }
+
+            sectionIndex++;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta
new file mode 100644
index 00000000..05e0afc7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d9fce691efd9941a78e1e74355ec3d84
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute
new file mode 100644
index 00000000..f12fc2dc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute
@@ -0,0 +1,218 @@
+#pragma kernel UpdateRopeMesh
+
+#include "PathFrame.cginc"
+
+struct ropeMeshData
+{
+    uint axis;
+    float volumeScaling;
+    uint stretchWithRope;
+    uint spanEntireLength;
+    uint instances;
+    float instanceSpacing;
+    float offset;
+    float meshSizeAlongAxis;
+    float4 scale;
+};
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<int> vertexOffsets;
+
+StructuredBuffer<int> meshIndices;
+StructuredBuffer<MeshData> meshData;
+
+StructuredBuffer<int> sortedIndices;
+StructuredBuffer<int> sortedOffsets;
+
+StructuredBuffer<ropeMeshData> rendererData;
+StructuredBuffer<smootherPathData> pathData;
+
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+StructuredBuffer<float4> colors;
+
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+
+pathFrame InterpolateFrames(pathFrame a, pathFrame b, float3 bOffset, float t)
+{
+    // this offset is used to displace a copy of the first and last frames of the path,
+    // to ensure meshes extrude correctly prior to the first or past the last frame. 
+    b.position += bOffset;
+    pathFrame interp = addFrames(multiplyFrame(1 - t, a) ,multiplyFrame(t , b));
+
+    // (no need to renormalize tangent, since offsetFromCurve[axis] = 0)
+    interp.normal = normalize(interp.normal);
+    interp.binormal = normalize(interp.binormal);
+    return interp;
+}
+
+[numthreads(16, 1, 1)]
+void UpdateRopeMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= rendererCount) return;
+    
+    int rendererIndex = firstRenderer + i;
+    int pathIndex = pathSmootherIndices[rendererIndex];
+    ropeMeshData renderer = rendererData[rendererIndex];
+
+    // get mesh data:
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    int sortedOffset = sortedOffsets[rendererIndex];
+
+    // get index of first output vertex:
+    int firstOutputVertex = vertexOffsets[rendererIndex];
+
+    // get index of first chunk, ignore others (no support for tearing):
+    int chunkIndex = chunkOffsets[pathIndex]; 
+
+    // get first frame and frame count:
+    int firstFrame = frameOffsets[chunkIndex];
+    int lastFrame = firstFrame + frameCounts[chunkIndex] - 1;
+
+    // get mesh deform axis:
+    int axis = renderer.axis;
+
+    // initialize scale vector:
+    float3 actualScale = renderer.scale.xyz;
+
+    // calculate stretch ratio:
+    float stretchRatio = renderer.stretchWithRope == 1 ? pathData[chunkIndex].smoothLength / pathData[chunkIndex].restLength : 1;
+
+    // squashing factor, makes mesh thinner when stretched and thicker when compresssed.
+    float squashing = clamp(1 + renderer.volumeScaling * (1 / max(stretchRatio, 0.01f) - 1), 0.01f, 2);
+
+    // calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
+    if (renderer.spanEntireLength == 1)
+    {
+        float totalMeshLength = renderer.meshSizeAlongAxis * renderer.instances;
+        float totalSpacing = renderer.instanceSpacing * (renderer.instances - 1);
+        float axisScale = pathData[chunkIndex].restLength / (totalMeshLength + totalSpacing);
+
+        if (axis == 0) actualScale.x = axisScale;
+        else if (axis == 1) actualScale.y = axisScale;
+        else actualScale.z = axisScale;
+    }
+
+    // init loop variables:
+    float lengthAlongAxis = renderer.offset;
+    int index = firstFrame;
+    int nextIndex = firstFrame + 1;
+    int prevIndex = firstFrame;
+    float nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+    float prevMagnitude = nextMagnitude;
+
+    
+    for (int j = 0; j < mesh.vertexCount; ++j)
+    {
+        int base = (firstOutputVertex + sortedIndices[sortedOffset + j]) * 14;
+        vertices.Store3(base << 2, asuint(positions[mesh.firstVertex + sortedIndices[sortedOffset + j]] * float3(0.5,1,1)));
+    }
+
+    for (int k = 0; k < (int)renderer.instances; ++k)
+    {
+        for (int j = 0; j < mesh.vertexCount; ++j)
+        {
+            int currVIndex = mesh.firstVertex + sortedIndices[sortedOffset + j]; 
+            int prevVIndex = mesh.firstVertex + sortedIndices[sortedOffset + max(0,j - 1)];
+
+            // calculate how much we've advanced in the sort axis since the last vertex:
+            lengthAlongAxis += (positions[currVIndex][axis] - positions[prevVIndex][axis]) * actualScale[axis] * stretchRatio;
+
+            // check if we have moved to a new section of the curve:
+            pathFrame frame;
+            if (lengthAlongAxis < 0)
+            {
+                while (-lengthAlongAxis > prevMagnitude && index > firstFrame)
+                {
+                    lengthAlongAxis += prevMagnitude;
+                    index = max(index - 1, firstFrame);
+                    nextIndex = min(index + 1, lastFrame);
+                    prevIndex = max(index - 1, firstFrame);
+                    nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+                    prevMagnitude = distance(frames[index].position, frames[prevIndex].position);
+                }
+
+                float3 offset = float3(0,0,0);
+                if (index == prevIndex)
+                {
+                    offset = frames[index].position - frames[nextIndex].position;
+                    prevMagnitude = length(offset);
+                }
+
+                frame = InterpolateFrames(frames[index], frames[prevIndex], offset, -lengthAlongAxis / prevMagnitude);
+            }
+            else
+            {
+                while (lengthAlongAxis > nextMagnitude && index < lastFrame)
+                {
+                    lengthAlongAxis -= nextMagnitude;
+                    index = min(index + 1, lastFrame);
+                    nextIndex = min(index + 1, lastFrame);
+                    prevIndex = max(index - 1, firstFrame);
+                    nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+                    prevMagnitude = distance(frames[index].position, frames[prevIndex].position);
+                }
+
+                float3 offset = float3(0,0,0);
+                if (index == nextIndex)
+                {
+                    offset = frames[index].position - frames[prevIndex].position;
+                    nextMagnitude = length(offset);
+                }
+
+                frame = InterpolateFrames(frames[index], frames[nextIndex], offset, lengthAlongAxis / nextMagnitude);
+           }
+
+            // update basis matrix:
+            float3x3 basis = frame.ToMatrix(axis);
+
+            // calculate vertex offset from curve:
+            float3 offsetFromCurve = positions[currVIndex] * actualScale * frame.thickness * squashing;
+            if (axis == 0) offsetFromCurve.x = 0;
+            else if (axis == 1) offsetFromCurve.y = 0;
+            else offsetFromCurve.z = 0;
+
+            // write modified vertex data:
+            int base = (firstOutputVertex + sortedIndices[sortedOffset + j]) * 14;
+            vertices.Store3( base<<2, asuint(frame.position + mul(basis, offsetFromCurve)));
+            vertices.Store3((base + 3)<<2, asuint(mul(basis, normals[currVIndex])));
+            vertices.Store4((base + 6)<<2, asuint(float4(mul(basis, tangents[currVIndex].xyz), tangents[currVIndex].w)));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+        }
+
+        firstOutputVertex += mesh.vertexCount;
+        lengthAlongAxis += renderer.instanceSpacing * actualScale[axis] * stretchRatio;
+    }
+   
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta
new file mode 100644
index 00000000..fbe83db5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 68510b7d06c3544fba668628be450928
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Scan.compute b/xiaofang/Assets/Obi/Resources/Compute/Scan.compute
new file mode 100644
index 00000000..dc961d99
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Scan.compute
@@ -0,0 +1,78 @@
+#pragma kernel ScanInBucketExclusive
+#pragma kernel ScanAddBucketResult
+
+#define THREADS_PER_GROUP 512 // Ensure that this equals the 'threadsPerGroup' const in the host script. Must be an odd power of 2.
+
+// These must be a multiple of THREADS_PER_GROUP. 
+StructuredBuffer<uint> _Input;
+RWStructuredBuffer<uint> _Result;
+RWStructuredBuffer<uint> _BlockSum;
+uint count;
+
+groupshared uint bucket[THREADS_PER_GROUP];
+
+// Scan in each bucket.
+[numthreads(THREADS_PER_GROUP, 1, 1)]
+void ScanInBucketExclusive(uint DTid : SV_DispatchThreadID, uint Gid : SV_GroupID, uint GI : SV_GroupIndex)
+{
+    if (DTid < count) {
+        bucket[GI] = _Input[DTid];
+    } else {
+        bucket[GI] = 0;
+    }
+
+    GroupMemoryBarrierWithGroupSync();
+
+    uint stride;
+
+    // up-sweep
+    [unroll]
+    for (stride = 2; stride <= THREADS_PER_GROUP; stride <<= 1)
+    {
+        GroupMemoryBarrierWithGroupSync();
+        if (((GI + 1) % stride) == 0) 
+        {
+            const uint half_stride = (stride >> 1);
+            bucket[GI] += bucket[GI - half_stride];
+        }
+    }
+
+    // Without this barrier, setting tg_mem[-1] to 0 may not be properly
+    // propagated across the entire threadgroup.
+    GroupMemoryBarrierWithGroupSync();
+    if (GI == THREADS_PER_GROUP - 1)
+    {
+        // clear the last element
+        _BlockSum[Gid] = bucket[GI];
+        bucket[GI] = 0;
+    }
+
+    // down-sweep
+    [unroll]
+    for (stride = THREADS_PER_GROUP; stride > 1; stride >>= 1)
+    {
+        GroupMemoryBarrierWithGroupSync();
+
+        if (((GI + 1) % stride) == 0) 
+        {
+            const uint half_stride = (stride >> 1);
+            const uint prev_idx = GI - half_stride;
+            const int tmp = bucket[prev_idx];
+            bucket[prev_idx] = bucket[GI];
+            bucket[GI] += tmp;
+        }
+    }
+
+    GroupMemoryBarrierWithGroupSync();
+
+    if (DTid < count) 
+        _Result[DTid] = bucket[GI];
+}
+
+// Add the bucket scanned result to each bucket to get the final result.
+[numthreads(THREADS_PER_GROUP, 1, 1)]
+void ScanAddBucketResult(uint DTid : SV_DispatchThreadID, uint Gid : SV_GroupID)
+{
+    if (DTid < count)
+        _Result[DTid] += _Input[Gid];
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Scan.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/Scan.compute.meta
new file mode 100644
index 00000000..4b20551d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Scan.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7124bb82b9af4476c8de8e82d7f8caba
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute
new file mode 100644
index 00000000..79d671b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute
@@ -0,0 +1,266 @@
+#pragma kernel CalculateRestShapeMatching
+#pragma kernel PlasticDeformation
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> firstIndex;
+StructuredBuffer<int> numIndices;
+StructuredBuffer<int> explicitGroup;
+StructuredBuffer<float> shapeMaterialParameters;
+
+RWStructuredBuffer<float4> RW_restComs;
+RWStructuredBuffer<float4> coms;
+RWStructuredBuffer<quaternion> constraintOrientations;
+
+RWStructuredBuffer<float4x4> RW_Aqq;
+RWStructuredBuffer<float4x4> RW_linearTransforms;
+RWStructuredBuffer<float4x4> RW_deformation;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> orientations;
+
+StructuredBuffer<float4> restComs;
+StructuredBuffer<float4x4> Aqq;
+StructuredBuffer<float4x4> linearTransforms;
+StructuredBuffer<float4x4> deformation;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+void RecalculateRestData(uint i)
+{
+    int k = 0;
+    float maximumMass = 10000;
+
+    // initialize rest center of mass and shape matrix:
+    RW_restComs[i] = FLOAT4_ZERO;
+    RW_Aqq[i] = FLOAT4X4_ZERO;
+
+    float4 restCom = FLOAT4_ZERO;
+    float4x4 _Aqq = FLOAT4X4_ZERO, _Rqq = FLOAT4X4_ZERO;
+
+    // calculate rest center of mass, shape mass and RW_Aqq matrix.
+    for (int j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+
+        float mass = maximumMass;
+        if (invMasses[k] > 1.0f / maximumMass)
+            mass = 1.0f / invMasses[k];
+
+        restCom += restPositions[k] * mass;
+
+        float4x4 particleR = q_toMatrix(restOrientations[k]);
+        particleR[3][3] = 0;
+
+        _Rqq += mul(particleR,
+                    mul(AsDiagonal(GetParticleInertiaTensor(principalRadii[k],invRotationalMasses[k])),
+                    transpose(particleR))
+                    );
+
+        float4 restPosition = restPositions[k];
+        restPosition[3] = 0;
+
+        _Aqq += mass * multrnsp4(restPosition, restPosition);
+    }
+    
+    if (restCom[3] < EPSILON)
+        return;
+    
+    restCom.xyz /= restCom[3];
+    RW_restComs[i] = restCom;
+
+    restCom[3] = 0;
+    _Aqq -= RW_restComs[i][3] * multrnsp4(restCom, restCom);
+    _Aqq[3][3] = 1; // so that the determinant is never 0 due to all-zeros row/column.
+    
+    RW_Aqq[i] = Inverse(_Rqq + mul(RW_deformation[i], mul(_Aqq, transpose(RW_deformation[i]))));
+    
+}
+
+[numthreads(128, 1, 1)]
+void CalculateRestShapeMatching (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    RecalculateRestData(i);
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int k;
+    float maximumMass = 10000;
+
+    coms[i] = FLOAT4_ZERO;
+    float4x4 Apq = FLOAT4X4_ZERO, Rpq = FLOAT4X4_ZERO;
+
+    // calculate shape mass, center of mass, and moment matrix:
+    int j;
+    for (j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+
+        float mass = maximumMass;
+        if (invMasses[k] > 1.0f / maximumMass)
+            mass = 1.0f / invMasses[k];
+
+        coms[i] += positions[k] * mass;
+
+        float4x4 particleR = q_toMatrix(orientations[k]);
+        float4x4 particleRT = q_toMatrix(restOrientations[k]);
+        particleR[3][3] = 0;
+        particleRT[3][3] = 0;
+
+        Rpq += mul(particleR,
+                   mul(AsDiagonal(GetParticleInertiaTensor(principalRadii[k],invRotationalMasses[k])),
+                   transpose(particleRT))
+                   );
+
+        float4 restPosition = restPositions[k];
+        restPosition[3] = 0;
+
+        Apq += mass * multrnsp4(positions[k], restPosition);
+    }
+
+    if (restComs[i][3] < EPSILON)
+        return;
+
+    coms[i] /= restComs[i][3];
+
+    // subtract global shape moment:
+    float4 restCom = restComs[i];
+    restCom[3] = 0;
+
+    Apq -= restComs[i][3] * multrnsp4(coms[i], restCom);
+
+    // calculate optimal transform including plastic deformation:
+    float4x4 Apq_def = Rpq + mul(Apq, transpose(deformation[i]));
+    Apq_def[3][3] = 1;
+
+    // reconstruct full best-matching linear transform:
+    RW_linearTransforms[i] = mul(Apq_def, Aqq[i]);
+
+    // extract rotation from transform matrix, using warmstarting and few iterations:
+    constraintOrientations[i] = ExtractRotation(Apq_def, constraintOrientations[i], 5);
+   
+    // calculate particle orientations:
+    if (explicitGroup[i] > 0)
+    {
+        // if the group is explicit, set the orientation for all particles:
+        for (int j = 0; j < numIndices[i]; ++j)
+        {
+            k = particleIndices[firstIndex[i] + j];
+            orientations[k] = qmul(constraintOrientations[i], restOrientations[k]);
+        }
+    }
+    else
+    {
+        // set orientation of center particle only:
+        int centerIndex = particleIndices[firstIndex[i]];
+        orientations[centerIndex] = qmul(constraintOrientations[i], restOrientations[centerIndex]);
+    }
+
+    // finally, obtain rotation matrix:
+    float4x4 R = q_toMatrix(constraintOrientations[i]);
+    R[3][3] = 0;
+    float4x4 transform = mul(R,deformation[i]);
+
+    // calculate and accumulate particle goal positions:
+    float4 goal, delta;
+    for (j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+        goal = coms[i] + mul(transform, restPositions[k] - restComs[i]);
+        delta = (goal - positions[k]) * shapeMaterialParameters[i * 5];
+
+        AddPositionDelta(k, delta);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void PlasticDeformation (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= activeConstraintCount) return;
+
+    // get plastic deformation parameters:
+    float plastic_yield = shapeMaterialParameters[i * 5 + 1];
+    float plastic_creep = shapeMaterialParameters[i * 5 + 2];
+    float plastic_recovery = shapeMaterialParameters[i * 5 + 3];
+    float max_deform = shapeMaterialParameters[i * 5 + 4];
+
+    // if we are allowed to absorb deformation:
+    if (plastic_creep > 0)
+    {
+        //obtain rotation matrix:
+        float4x4 R = q_toMatrix(constraintOrientations[i]);
+        R[3][3] = 1;
+
+        // get scale matrix (A = RS so S = Rt * A) and its deviation from the identity matrix:
+        float4x4 deform_matrix = mul(transpose(R), linearTransforms[i]) - FLOAT4X4_IDENTITY;
+
+        // if the amount of deformation exceeds the yield threshold:
+        float norm = FrobeniusNorm(deform_matrix);
+        if (norm > plastic_yield)
+        {
+            // deform the shape permanently:
+            RW_deformation[i] = mul(FLOAT4X4_IDENTITY + plastic_creep * deform_matrix, RW_deformation[i]);
+
+            // clamp deformation so that it does not exceed a percentage;
+            deform_matrix = RW_deformation[i] - FLOAT4X4_IDENTITY;
+            norm = FrobeniusNorm(deform_matrix);
+            if (norm > max_deform)
+            {
+                RW_deformation[i] = FLOAT4X4_IDENTITY + max_deform * deform_matrix / norm;
+            }
+
+            // if we cannot recover from plastic deformation, recalculate rest shape now:
+            if (plastic_recovery == 0)
+                RecalculateRestData(i);
+        }
+    }
+
+    // if we can recover from plastic deformation, lerp towards non-deformed shape and recalculate rest shape:
+    if (plastic_recovery > 0)
+    {
+        RW_deformation[i] += (FLOAT4X4_IDENTITY - RW_deformation[i]) * min(plastic_recovery * deltaTime, 1.0f);
+        RecalculateRestData(i);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int first = firstIndex[i];
+    int last = first + numIndices[i];
+
+    for (int k = first; k < last; ++k)
+    {
+        int p = particleIndices[k];
+        ApplyPositionDelta(RW_positions, p, sorFactor);
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta
new file mode 100644
index 00000000..ea486ca8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 18ba9336feedf4902b78736cf9abdaa8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc b/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc
new file mode 100644
index 00000000..9fc762e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc
@@ -0,0 +1,89 @@
+#ifndef SIMPLEX_INCLUDE
+#define SIMPLEX_INCLUDE
+
+#include "Optimization.cginc"
+
+uint pointCount;
+uint edgeCount;
+uint triangleCount;
+
+int GetSimplexStartAndSize(in uint index, out uint size)
+{
+    size = 0;
+    int start = 0;
+
+    if (index < triangleCount)
+    {
+        size = 3;
+        start = index * 3;
+    }
+    else if (index < triangleCount + edgeCount)
+    {
+        size = 2;
+        start = triangleCount * 3 + (index - triangleCount) * 2;
+    }
+    else if (index < triangleCount + edgeCount + pointCount)
+    {
+        size = 1;
+        start = triangleCount * 3 + edgeCount * 2 + (index - triangleCount - edgeCount);
+    }
+    return start;
+}
+
+float4 BarycenterForSimplexOfSize(in int simplexSize)
+{
+    switch(simplexSize)
+    {
+        case 1: return float4(1,0,0,0);
+        case 2: return float4(0.5,0.5,0,0);
+        case 3: return float4(1/3.0,1/3.0,1/3.0,0);
+        case 4: return float4(0.25,0.25,0.25,0.25);
+        default: return float4(1,0,0,0);
+    }
+}
+
+struct Simplex : IDistanceFunction
+{
+    StructuredBuffer<float4> positions;
+    StructuredBuffer<float4> radii;
+    StructuredBuffer<int> simplices;
+
+    int simplexStart;
+    int simplexSize;
+
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        switch (simplexSize)
+        {
+            case 1:
+            default:
+                {
+                    float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                    projectedPoint.bary = float4(1, 0, 0, 0);
+                    projectedPoint.pos = p1;
+                }
+                break;
+            case 2:
+                {
+                    float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                    float4 p2 = positions[simplices[simplexStart + 1]]; p2.w = 0;
+                    float mu;
+                    NearestPointOnEdge(p1, p2, pos, mu);
+                    projectedPoint.bary = float4(1 - mu, mu, 0, 0);
+                    projectedPoint.pos = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
+        
+                }break;
+            case 3:
+                {
+                    CachedTri tri;
+                    tri.Cache(float4(positions[simplices[simplexStart]].xyz,0),
+                              float4(positions[simplices[simplexStart + 1]].xyz,0),
+                              float4(positions[simplices[simplexStart + 2]].xyz,0));
+                    projectedPoint.pos = NearestPointOnTri(tri, pos, projectedPoint.bary);
+                }break;
+        }
+        projectedPoint.normal = normalizesafe(pos - projectedPoint.pos);
+    }
+
+};
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc.meta
new file mode 100644
index 00000000..a695ffd7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Simplex.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d8eeb7300d95c4653a91d905aaaf5344
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute
new file mode 100644
index 00000000..c3714990
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute
@@ -0,0 +1,71 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float4> skinPoints;
+StructuredBuffer<float4> skinNormals;
+StructuredBuffer<float3> skinRadiiBackstop;
+StructuredBuffer<float> skinCompliance;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    float radius = skinRadiiBackstop[i].x;
+    float collisionRadius = skinRadiiBackstop[i].y;
+    float backstopDistance = collisionRadius + skinRadiiBackstop[i].z;
+
+    float compliance = skinCompliance[i] / (deltaTime * deltaTime);
+    int p = particleIndices[i];
+
+    if (invMasses[p] > 0)
+    {
+        float4 toSkin = positions[p] - skinPoints[i];
+        float4 toBackstop = positions[p] - (skinPoints[i] - skinNormals[i] * backstopDistance);
+
+        // distance to skin and backstop sphere centers:
+        float d = length(toSkin);
+        float b = length(toBackstop);
+
+        // constrain particle within skin radius.
+        // ignore mass in the equations (use 1), as we don't want particle mass to interfere with skin compliance.
+        // We should be able to adjust skin properties and particle mass (for collisions) independently.
+        float constraint = max(0,d - radius);
+        float dlambda = (-constraint - compliance * lambdas[i]) / (1 + compliance); 
+        lambdas[i] += dlambda;
+        float4 skinCorrection = dlambda * toSkin / (d + EPSILON);
+
+        // constrain particle outside the backstop sphere (0 compliance):
+        constraint = min(0, b - collisionRadius);
+        float4 backstopCorrection = - constraint * toBackstop / (b + EPSILON);
+        
+        AddPositionDelta(p, skinCorrection + backstopCorrection);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta
new file mode 100644
index 00000000..92eeacff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2bec2152263654b08b1639ececa4ced6
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute b/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute
new file mode 100644
index 00000000..1afb27c9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute
@@ -0,0 +1,145 @@
+#pragma kernel UpdateSoftbodyMesh
+
+#include "MathUtils.cginc"
+
+struct Influence
+{
+    int index;
+    float weight;
+};
+
+struct SkinmapData
+{
+    int firstInfluence;
+    int firstInfNumber;
+    int firstParticleBindPose;
+    
+    int firstSkinWeight;
+    int firstSkinWeightNumber;
+    int firstBoneBindPose;
+
+    int bindPoseCount;
+};
+
+struct SkeletonData
+{
+    int firstBone;
+    int boneCount;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> rendererIndices; // for each vertex/particle, index of its renderer.
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<int> skinConstraintOffsets;
+
+StructuredBuffer<int> skinmapIndices; // for each renderer, index of its skinmap.
+StructuredBuffer<int> meshIndices; // for each renderer, index of its mesh.
+StructuredBuffer<int> skeletonIndices; // for each renderer, index of its skeleton.
+
+StructuredBuffer<int> particleOffsets; // for each renderer, index of its first particle in the batch.
+StructuredBuffer<int> vertexOffsets;  // for each renderer, index of its first vertex in the batch.
+
+StructuredBuffer<SkinmapData> skinData;
+StructuredBuffer<Influence> influences;
+StructuredBuffer<int> influenceOffsets;
+StructuredBuffer<float4x4> bindPoses;
+
+StructuredBuffer<SkeletonData> skeletonData;
+StructuredBuffer<float3> bonePos;
+StructuredBuffer<quaternion> boneRot;
+StructuredBuffer<float3> boneScl;
+
+StructuredBuffer<MeshData> meshData;
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint vertexCount;
+float4x4 world2Solver;
+
+[numthreads(128, 1, 1)]
+void UpdateSoftbodyMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= vertexCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    SkeletonData skel = skeletonData[skeletonIndices[rendererIndex]];
+    
+    // get index of this vertex in its original mesh:
+    int originalVertexIndex = i - vertexOffsets[rendererIndex];
+
+    // get index of the vertex in the mesh batch:
+    int batchedVertexIndex = mesh.firstVertex + originalVertexIndex;
+
+    // get first influence and amount of influences for this vertex:
+    int influenceStart = influenceOffsets[skin.firstInfNumber + originalVertexIndex];
+    int influenceCount = influenceOffsets[skin.firstInfNumber + originalVertexIndex + 1] - influenceStart;
+    
+    float3 position = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 tangent = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstInfluence + k];
+        float4x4 trfm;
+
+        if (inf.index < skin.bindPoseCount) // bone influence:
+        {
+            int boneIndex = skel.firstBone + inf.index;
+            int bindIndex = skin.firstParticleBindPose + inf.index;
+
+            float4x4 bind = bindPoses[bindIndex];
+
+            float4x4 deform = inf.index < skel.boneCount ? TRS(bonePos[boneIndex], boneRot[boneIndex], boneScl[boneIndex]) : FLOAT4X4_IDENTITY;
+
+            // bone skinning leaves vertices in world space, so convert to solver space afterwards:
+            trfm = mul(world2Solver, mul(deform, bind)); 
+        }
+        else // particle influence
+        {
+            int p = particleIndices[particleOffsets[rendererIndex] + inf.index - skin.bindPoseCount];
+
+            float4x4 deform = mul(m_translate(FLOAT4X4_IDENTITY,renderablePositions[p].xyz), q_toMatrix(renderableOrientations[p]));
+            trfm = mul(deform, bindPoses[skin.firstParticleBindPose + inf.index]);
+            color += colors[p] * inf.weight;
+        }
+
+        // update vertex/normal/tangent:
+        position += mul(trfm, float4(positions[batchedVertexIndex], 1)).xyz * inf.weight;
+        normal += mul(trfm, float4(normals[batchedVertexIndex], 0)).xyz * inf.weight;
+        tangent += float4(mul(trfm, float4(tangents[batchedVertexIndex].xyz, 0)).xyz, tangents[batchedVertexIndex].w) * inf.weight;
+    }
+
+    int base = i * 14;
+    vertices.Store3( base<<2, asuint(position));
+    vertices.Store3((base + 3)<<2, asuint(normal));
+    vertices.Store4((base + 6)<<2, asuint(tangent));
+    vertices.Store4((base + 10)<<2, asuint(color));
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta
new file mode 100644
index 00000000..4ae05f36
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 805ca20f71b034180a1ab0ba707928be
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Solver.compute b/xiaofang/Assets/Obi/Resources/Compute/Solver.compute
new file mode 100644
index 00000000..ad188dc0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Solver.compute
@@ -0,0 +1,240 @@
+#pragma kernel ApplyInertialForces
+#pragma kernel ApplyRigidbodyDeltas
+#pragma kernel StoreStartState
+#pragma kernel PredictPositions
+#pragma kernel UpdateVelocities
+#pragma kernel UpdatePositions
+#pragma kernel Interpolate
+
+#include "Bounds.cginc"
+#include "Integration.cginc"
+#include "CollisionMaterial.cginc"
+#include "SolverParameters.cginc"
+#include "MathUtils.cginc"
+#include "Rigidbody.cginc"
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<int> phases;
+StructuredBuffer<float4> buoyancies;
+StructuredBuffer<float> fluidRadii;
+
+StructuredBuffer<float4> R_startPositions;
+StructuredBuffer<float4> R_endPositions;
+StructuredBuffer<quaternion> R_startOrientations;
+StructuredBuffer<quaternion> R_endOrientations;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+RWStructuredBuffer<float4> principalRadii;
+RWStructuredBuffer<float4> startPositions;
+RWStructuredBuffer<float4> endPositions;
+RWStructuredBuffer<quaternion> startOrientations;
+RWStructuredBuffer<quaternion> endOrientations;
+RWStructuredBuffer<float4> renderablePositions;
+RWStructuredBuffer<quaternion> renderableOrientations;
+RWStructuredBuffer<float4> renderableRadii;
+RWStructuredBuffer<float4> prevPositions;
+RWStructuredBuffer<quaternion> prevOrientations;
+RWStructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> angularVelocities;
+
+RWStructuredBuffer<float4> externalForces;
+RWStructuredBuffer<float4> externalTorques;
+
+RWStructuredBuffer<float4> linearDeltas;
+RWStructuredBuffer<float4> angularDeltas;
+
+// Variables set from the CPU
+uint particleCount;
+
+float deltaTime;
+float blendFactor;
+float velocityScale;
+
+float4 angularVel;
+float4 inertialAccel;
+float4 eulerAccel;
+
+[numthreads(128, 1, 1)]
+void ApplyInertialForces(uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    if (invMasses[p] > 0)
+    {
+        float4 euler = float4(cross(eulerAccel.xyz, positions[p].xyz), 0);
+        float4 centrifugal = float4(cross(angularVel.xyz, cross(angularVel.xyz, positions[p].xyz)), 0);
+        float4 coriolis = 2 * float4(cross(angularVel.xyz, velocities[p].xyz), 0);
+        float4 angularAccel = euler + coriolis + centrifugal;
+
+        velocities[p] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void ApplyRigidbodyDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= particleCount) return;
+    
+    linearDeltas[i].xyz = float3(asfloat(linearDeltasAsInt[i].x),
+                                 asfloat(linearDeltasAsInt[i].y),
+                                 asfloat(linearDeltasAsInt[i].z));
+
+    angularDeltas[i].xyz = float3(asfloat(angularDeltasAsInt[i].x),
+                                  asfloat(angularDeltasAsInt[i].y),
+                                  asfloat(angularDeltasAsInt[i].z));
+}
+
+[numthreads(128, 1, 1)]
+void StoreStartState (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    startPositions[i] = endPositions[i];
+    startOrientations[i] = endOrientations[i];
+
+    endPositions[i] = positions[i];
+    endOrientations[i] = orientations[i];
+}
+
+[numthreads(128, 1, 1)]
+void PredictPositions (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // the previous position/orientation is the current position/orientation at the start of the step.
+    prevPositions[p] = positions[p];
+    prevOrientations[p] = orientations[p];
+  
+    // predict positions:
+    if (invMasses[p] > 0)
+    {
+        float4 effectiveGravity = float4(gravity,0);
+
+        // Adjust gravity for buoyant fluid particles:
+        if ((phases[p] & (int)PHASE_FLUID) != 0)
+            effectiveGravity *= -buoyancies[p].z;
+
+        // apply external forces and gravity:
+        float4 vel = velocities[p] + (invMasses[p] * externalForces[p] + effectiveGravity) * deltaTime; 
+
+        // project velocity to 2D plane if needed:
+        if (mode == 1)
+            vel[3] = 0;
+
+        velocities[p] = vel;
+    }
+
+    if (invRotationalMasses[p] > 0)
+    {
+        // apply external torques (simplification: we don't use full inertia tensor here)
+        float3 angularVel = angularVelocities[p].xyz + invRotationalMasses[p] * externalTorques[p].xyz * deltaTime;
+
+        // project angular velocity to 2D plane normal if needed:
+        if (mode == 1)
+            angularVel = Project(angularVel,float3(0, 0, 1));
+            
+        angularVelocities[p] = float4(angularVel, angularVelocities[p].w);
+    }
+
+    positions[p] = IntegrateLinear(positions[p], velocities[p], deltaTime);
+    orientations[p] = IntegrateAngular(orientations[p], angularVelocities[p], deltaTime);
+}
+
+[numthreads(128, 1, 1)]
+void UpdateVelocities (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // Project particles on the XY plane if we are in 2D mode:
+    if (mode == 1)
+    {
+        // restrict position to the 2D plane
+        float4 pos = positions[p];
+        pos[2] = prevPositions[p][2];
+        positions[p] = pos;
+    }
+
+    if (invMasses[p] > 0)
+        velocities[p] = DifferentiateLinear(positions[p],prevPositions[p],deltaTime);
+    else
+        velocities[p] = FLOAT4_ZERO;
+
+    if (invRotationalMasses[p] > 0)
+        angularVelocities[p].xyz = DifferentiateAngular(orientations[p], prevOrientations[p], deltaTime).xyz;
+    else
+        angularVelocities[p] = FLOAT4_ZERO;
+}
+
+[numthreads(128, 1, 1)]
+void UpdatePositions (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // damp velocities:
+    velocities[p] *= velocityScale;
+    angularVelocities[p].xyz *= velocityScale;
+
+    // clamp velocities:
+    float velMagnitude = length(velocities[p]);
+    float angularVelMagnitude = length(angularVelocities[p].xyz);
+
+    if (velMagnitude > EPSILON)
+        velocities[p] *= min(maxVelocity, velMagnitude) / velMagnitude;
+
+    if (angularVelMagnitude > EPSILON)
+        angularVelocities[p].xyz *= min(maxAngularVelocity, angularVelMagnitude) / angularVelMagnitude;
+
+    // if the kinetic energy is below the sleep threshold, keep the particle at its previous position.
+    if (velMagnitude * velMagnitude * 0.5f + angularVelMagnitude * angularVelMagnitude * 0.5f <= sleepThreshold)
+    {
+        positions[p] = prevPositions[p];
+        orientations[p] = prevOrientations[p];
+        velocities[p] = FLOAT4_ZERO;
+        angularVelocities[p].xyz = float3(0,0,0);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Interpolate (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    if (interpolation == 1)
+    {
+        renderablePositions[i] = lerp(R_startPositions[i], R_endPositions[i], blendFactor);
+        renderableOrientations[i] = normalize(q_slerp(R_startOrientations[i], R_endOrientations[i], blendFactor));
+        renderableRadii[i] = principalRadii[i];
+    }
+    else if (interpolation == 2)
+    {
+        renderablePositions[i] = lerp(R_endPositions[i], positions[i], blendFactor);
+        renderableOrientations[i] = normalize(q_slerp(R_endOrientations[i], orientations[i], blendFactor));
+        renderableRadii[i] = principalRadii[i];
+    }
+    else
+    {
+        renderablePositions[i] = R_endPositions[i];
+        renderableOrientations[i] = normalize(R_endOrientations[i]);
+        renderableRadii[i] = principalRadii[i];
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Solver.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/Solver.compute.meta
new file mode 100644
index 00000000..5e953895
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Solver.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8f597cb6a5a9e45499d9fd0f6160e5b4
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc b/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc
new file mode 100644
index 00000000..122712f4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc
@@ -0,0 +1,22 @@
+#ifndef SOLVERPARAMS_INCLUDE
+#define SOLVERPARAMS_INCLUDE
+
+int mode;
+int interpolation;
+float3 gravity;
+float damping;
+float worldLinearInertiaScale;
+float worldAngularInertiaScale;
+float maxAnisotropy;
+float sleepThreshold;
+float maxVelocity;
+float maxAngularVelocity;
+float collisionMargin;
+float maxDepenetration;
+float colliderCCD;
+float particleCCD;
+float shockPropagation;
+int surfaceCollisionIterations;
+float surfaceCollisionTolerance;
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta
new file mode 100644
index 00000000..a591ec8c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 57c61c65170924f0aa225156e164ceb8
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute b/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute
new file mode 100644
index 00000000..80282cf6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute
@@ -0,0 +1,30 @@
+#pragma kernel SortData
+
+StructuredBuffer<int> sortedToOriginal;
+  
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> userData;
+
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedPrevPositions;
+RWStructuredBuffer<float4> sortedPrincipalRadii;
+RWStructuredBuffer<float4> sortedUserData;
+
+StructuredBuffer<uint> dispatchBuffer; 
+
+[numthreads(128, 1, 1)]
+void SortData (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int original = sortedToOriginal[i];
+
+    sortedPositions[i] = positions[original];
+    sortedPrevPositions[i] = prevPositions[original];
+    sortedPrincipalRadii[i] = principalRadii[original];
+    sortedUserData[i] = userData[original];
+}
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute.meta
new file mode 100644
index 00000000..13aa550a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SortParticleData.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9cd8eed4d0d6e45c18941232e855994f
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute b/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute
new file mode 100644
index 00000000..b9db064d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute
@@ -0,0 +1,314 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Bounds.cginc"
+#include "Simplex.cginc"
+#include "SolverParameters.cginc"
+#include "AtomicDeltas.cginc"
+#include "Phases.cginc"
+#include "QueryDefinitions.cginc"
+
+#define MAX_RESULTS_PER_SIMPLEX 32
+
+#pragma kernel Clear
+#pragma kernel BuildUnsortedList
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortList
+#pragma kernel BuildContactList
+#pragma kernel PrefixSumColliderCounts
+#pragma kernel SortContactPairs
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> filters;    
+RWStructuredBuffer<aabb> simplexBounds; // bounding box of each simplex. 
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+RWStructuredBuffer<uint> sortedColliderIndices;
+
+RWStructuredBuffer<uint> colliderTypeCounts;
+RWStructuredBuffer<uint> contactOffsetsPerType;
+RWStructuredBuffer<uint2> unsortedContactPairs;
+
+RWStructuredBuffer<uint> cellIndices;
+RWStructuredBuffer<uint> cellOffsets;
+
+RWStructuredBuffer<uint> cellCounts;
+RWStructuredBuffer<uint> offsetInCells;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint2> contactPairs;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<transform> worldToSolver;
+
+uint maxResults;
+uint queryCount;    // amount of colliders in the grid.
+uint cellsPerShape; // max amount of cells a collider can be inserted into. Typically this is 8.
+int shapeTypeCount; // number of different query shapes, ie: box, sphere, ray, etc. 
+
+aabb CalculateShapeAABB(in queryShape shape)
+{
+    float offset = shape.contactOffset + shape.maxDistance;
+
+    aabb bounds;
+    bounds.min_ = FLT_MAX;
+    bounds.max_ = FLT_MIN;
+    switch (shape.type)
+    {
+        case SPHERE_QUERY:
+            bounds.FromParticle(shape.center, shape.size.x + offset); break;
+        case BOX_QUERY:
+            bounds.FromEdge(shape.center - shape.size*0.5f, shape.center + shape.size * 0.5f, offset); break;
+        case RAY_QUERY:
+            bounds.FromEdge(shape.center, shape.center + shape.size, offset); break;
+    }
+    return bounds;
+}
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell offsets to invalid, so that we can later use atomic minimum to calculate the offset.
+    if (i < maxCells)
+    {
+        cellOffsets[i] = INVALID;
+        cellCounts[i] = 0;
+    }
+
+    // clear all cell indices to invalid.
+    if (i < queryCount)
+    {
+        for (uint j = 0; j < cellsPerShape; ++j)
+            cellIndices[i*cellsPerShape+j] = INVALID;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildUnsortedList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= queryCount) return;
+
+    // get bounds in solver space:
+    aabb bounds = CalculateShapeAABB(shapes[i]).Transformed(worldToSolver[0].Multiply(transforms[i])); 
+
+    // calculate bounds size, grid level and cell size:
+    float4 size = bounds.max_ - bounds.min_;
+    float maxSize = max(max (size.x, size.y), size.z);
+    int level = GridLevelForSize(maxSize);
+    float cellSize = CellSizeOfLevel(level);
+    
+    // calculate max and min cell coordinates (force 4th component to zero, might not be after expanding)
+    int4 minCell = floor(bounds.min_ / cellSize);
+    int4 maxCell = floor(bounds.max_ / cellSize);
+    minCell[3] = 0;
+    maxCell[3] = 0;
+
+    int4 cellSpan = maxCell - minCell;
+   
+    // insert collider in cells:
+    for (int x = 0; x <= cellSpan[0]; ++x)
+    {
+        for (int y = 0; y <= cellSpan[1]; ++y)
+        {
+            for (int z = 0; z <= cellSpan[2]; ++z)
+            {
+                int cellIndex = GridHash(minCell + int4(x, y, z, level));
+                
+                // calculate flat index of this cell into arrays:
+                int k = x + y*2 + z*4 + i*cellsPerShape;
+
+                cellIndices[k] = cellIndex;
+                InterlockedAdd(cellCounts[cellIndex],1,offsetInCells[k]);
+            }
+        }
+    }
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128, 1, 1)]
+void SortList (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= queryCount * cellsPerShape) return;
+
+    uint cellIndex = cellIndices[i];
+
+    if (cellIndex != INVALID)
+    {
+        // write shape to its sorted index:
+        uint sortedIndex = cellOffsets[cellIndex] + offsetInCells[i];
+        sortedColliderIndices[sortedIndex] = i;
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellCount = queryCount * cellsPerShape;
+    int candidateCount = 0;
+    uint candidates[MAX_RESULTS_PER_SIMPLEX];
+    
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(threadIndex, simplexSize);
+    
+    aabb b = simplexBounds[threadIndex];
+
+    // max size of the particle bounds in cells:
+    int4 maxSize = int4(10,10,10,10);
+
+    // build a list of candidate colliders:
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int4 minCell = floor(b.min_ / cellSize);
+        int4 maxCell = floor(b.max_ / cellSize);
+        maxCell = minCell + min(maxCell - minCell, maxSize);
+
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,z,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through queries in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        if (candidateCount < MAX_RESULTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerShape;
+                    }
+                   
+                }
+            }
+        }
+    }
+    
+    //evaluate candidates and create contacts: 
+    if (candidateCount > 0)
+    {
+        // insert sort:
+        for (int k = 1; k < candidateCount; ++k)
+        {
+            uint key = candidates[k];
+            int j = k - 1;
+
+            while (j >= 0 && candidates[j] > key)
+                candidates[j + 1] = candidates[j--];
+
+            candidates[j + 1] = key;
+        }
+
+        // make sure each candidate only shows up once in the list:
+        int first = 0, contactCount = 0;
+        while(++first != candidateCount)
+        {
+            if (candidates[contactCount] != candidates[first])
+                candidates[++contactCount] = candidates[first];
+        }
+        contactCount++;
+
+        // append contacts:
+        for (int i = 0; i < contactCount; i++)
+        {
+            int c = candidates[i];
+           
+            // get shape bounds in solver space:
+            aabb colliderBoundsSS = CalculateShapeAABB(shapes[c]).Transformed(worldToSolver[0].Multiply(transforms[c])); 
+
+            // check if any simplex particle and the collider should collide:
+            bool shouldCollide = false;
+            int colliderCategory = shapes[c].filter & CategoryMask;
+            int colliderMask = (shapes[c].filter & MaskMask) >> 16;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int simplexCategory = filters[simplices[simplexStart + j]] & CategoryMask;
+                int simplexMask = (filters[simplices[simplexStart + j]] & MaskMask) >> 16;
+                shouldCollide = shouldCollide || ((simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0);
+            }
+
+            if (shouldCollide && b.IntersectsAabb(colliderBoundsSS))
+            {
+                uint count;
+                InterlockedAdd(dispatchBuffer[7], 1, count);
+
+                // technically incorrect, as number of pairs != number of contacts but
+                // we will ignore either excess pairs or contacts.
+                if (count < maxResults) 
+                {
+                    // increment the amount of contacts for this shape type:
+                    InterlockedAdd(colliderTypeCounts[shapes[c].type],1);
+
+                    // enqueue a new contact pair:
+                    unsortedContactPairs[count] = uint2(threadIndex,c);
+
+                    InterlockedMax(dispatchBuffer[4],(count + 1) / 128 + 1);
+                }
+            }
+        }
+    }   
+}
+
+[numthreads(1, 1, 1)]
+void PrefixSumColliderCounts (uint3 id : SV_DispatchThreadID) 
+{
+    contactOffsetsPerType[0] = 0;
+    int i;
+
+    for (i = 0; i < shapeTypeCount; ++i)
+    {
+        contactOffsetsPerType[i+1] = contactOffsetsPerType[i] + colliderTypeCounts[i];
+
+        // write amount of pairs per collider type in the dispatch buffer:
+        dispatchBuffer[8 + i*4] = colliderTypeCounts[i] / 128 + 1;
+        dispatchBuffer[8 + i*4 + 3] = colliderTypeCounts[i];
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortContactPairs (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[7] || i >= maxResults) return;
+
+    uint2 pair = unsortedContactPairs[i];
+    int shapeType = (int)shapes[pair.y].type;
+
+    // decrement amount of pairs for the given collider type:
+    uint count;
+    InterlockedAdd(colliderTypeCounts[shapeType],-1, count);
+
+    // write the pair directly at its position in the sorted array:
+    contactPairs[contactOffsetsPerType[shapeType] + count - 1] = pair;
+}
+
+
+
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta
new file mode 100644
index 00000000..69122c2b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dbbb4eb0bd2fa43e08564bf661b00670
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute b/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute
new file mode 100644
index 00000000..c88ecfa3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute
@@ -0,0 +1,96 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+struct Sphere : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+           pnt[2] = 0;
+
+        float radius = s.size.x * cmax(colliderToSolver.scale.xyz);
+        float distanceToCenter = length(pnt);
+
+        float4 normal = pnt / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*SPHERE_SHAPE]) return;
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[SPHERE_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Sphere sphereShape;
+        sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        sphereShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(sphereShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * sphereShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute.meta
new file mode 100644
index 00000000..282bd67c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SphereShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 6bde4f5390fee479ba06d6691eb9450b
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute b/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute
new file mode 100644
index 00000000..cea2c12e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute
@@ -0,0 +1,107 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;   
+
+struct Sphere : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        float radius = s.size.x * cmax(colliderToSolver.scale.xyz);
+        float distanceToCenter = length(pnt);
+
+        float4 normal = pnt / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*SPHERE_QUERY]) return; 
+   
+    int firstPair = contactOffsetsPerType[SPHERE_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Sphere sphereShape;
+    sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    sphereShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(sphereShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos,surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= sphereShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            results[count] = c;
+     
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+    
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta
new file mode 100644
index 00000000..c8efb5a7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1b86e67abd0f74accb1c47af5aa6ffbe
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute
new file mode 100644
index 00000000..e26a380f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute
@@ -0,0 +1,64 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float constraint = length(dist);
+
+    // calculate lambda and position deltas:
+    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+    float4 delta = dlambda * dist / (constraint + EPSILON);
+
+    lambdas[i] += dlambda;
+
+    float4 delta1 = delta * w1;
+    float4 delta2 = -delta * w2;
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2);   
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta
new file mode 100644
index 00000000..bf07c4dc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9d8b905ab89234f6c9c7774317150282
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute
new file mode 100644
index 00000000..5da22d7e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute
@@ -0,0 +1,86 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> orientationIndices;
+StructuredBuffer<float> restLengths;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float3> stiffnesses;
+RWStructuredBuffer<float3> lambdas;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+    int q = orientationIndices[i];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float3 compliances = stiffnesses[i] / (deltaTime * deltaTime);
+
+    float3 e = rotate_vector(restOrientations[i], float3(0, 0, 1));
+    quaternion basis = qmul(orientations[q],restOrientations[i]);
+
+    // calculate rod vector in local element space:
+    float3 gamma = rotate_vector(q_conj(basis), (positions[p2] - positions[p1]).xyz) / (restLengths[i] + EPSILON);
+
+    // subtract third director vector (0,0,1):
+    gamma[2] -= 1;
+    
+    float W = (w1 + w2) / (restLengths[i] + EPSILON) + invRotationalMasses[q] * 4.0f * restLengths[i];
+    float3 dlambda = (gamma - compliances * lambdas[i]) / (W + compliances + EPSILON);
+    lambdas[i] += dlambda;
+
+    // convert lambda delta lambda back to world space:
+    dlambda = rotate_vector(basis, dlambda);
+
+    float4 delta1 = float4(dlambda, 0) * w1;
+    float4 delta2 = -float4(dlambda, 0) * w2;
+
+    quaternion e_3 = quaternion(e.x,e.y,e.z,0);
+    quaternion q_e_3_bar = qmul(orientations[q],q_conj(e_3));
+    
+    // calculate rotation delta:
+    quaternion rotDelta = qmul(quaternion(dlambda[0], dlambda[1], dlambda[2], 0.0f),q_e_3_bar);
+    rotDelta *= 2.0f * invRotationalMasses[q] * restLengths[i];
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2); 
+    AddOrientationDelta(q, rotDelta);
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+    int q = orientationIndices[i];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+    ApplyOrientationDelta(orientations, q, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta
new file mode 100644
index 00000000..99b251af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 09e95e8821fe445bf87f0d434d789822
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc b/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc
new file mode 100644
index 00000000..e9d25466
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc
@@ -0,0 +1,19 @@
+#ifndef SURFACEPOINT_INCLUDE
+#define SURFACEPOINT_INCLUDE
+
+/**
+ * point in the surface of a signed distance field.
+ */
+struct SurfacePoint
+{
+    float4 bary;
+    float4 pos;
+    float4 normal;
+};
+
+interface IDistanceFunction
+{
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint);
+};
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta
new file mode 100644
index 00000000..f7b123e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b54db800f0f884467b02edb24ca317d4
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute
new file mode 100644
index 00000000..cd99220f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute
@@ -0,0 +1,64 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float2> maxLengthScale;
+StructuredBuffer<float> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float d = length(dist);
+
+    // calculate constraint value (distance - rest length)
+    float constraint = d - (maxLengthScale[i].x * maxLengthScale[i].y);
+
+    if (constraint > 0)
+    {
+        // calculate lambda and position deltas:
+        float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+        float4 delta = dlambda * dist / (d + EPSILON);
+        lambdas[i] += dlambda;
+        
+        AddPositionDelta(p1, delta * w1);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i * 2];
+
+    ApplyPositionDelta(positions, p, sorFactor);
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta
new file mode 100644
index 00000000..280042e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dcd2ea33ecfcb4fb0ac44c5a66ea69f8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc b/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc
new file mode 100644
index 00000000..039279a4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc
@@ -0,0 +1,98 @@
+#ifndef TRANSFORM_INCLUDE
+#define TRANSFORM_INCLUDE
+
+#include "Quaternion.cginc"
+#include "Integration.cginc"
+
+struct transform
+{
+    float4 translation;
+    float4 scale;
+    quaternion rotation;
+    
+    transform Transform(float4 translation_, quaternion rotation_, float4 scale_)
+    {
+        // make sure there are good values in the 4th component:
+        translation_[3] = 0;
+        scale_[3] = 1;
+
+        transform t;
+        t.translation = translation_;
+        t.rotation = rotation_;
+        t.scale = scale_;
+        return t;
+    }
+    
+    transform Inverse()
+    {
+        return Transform(float4(rotate_vector(q_conj(rotation),(translation / -scale).xyz),0),
+                         q_conj(rotation),
+                         1 / scale);
+    }
+
+    transform Interpolate(transform other, float translationalMu, float rotationalMu, float scaleMu)
+    { 
+        return Transform(lerp(translation, other.translation, translationalMu),
+                         q_slerp(rotation, other.rotation, rotationalMu),
+                         lerp(scale, other.scale, scaleMu));
+    }
+
+    transform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
+    {
+        return Transform(IntegrateLinear(translation, linearVelocity, dt),
+                         IntegrateAngular(rotation, angularVelocity, dt),
+                         scale);
+    }
+
+    float4 TransformPoint(float4 pnt)
+    {
+        return float4(translation.xyz + rotate_vector(rotation, (pnt * scale).xyz),0);
+    }
+
+    float4 InverseTransformPoint(float4 pnt)
+    {
+        return float4(rotate_vector(q_conj(rotation),(pnt - translation).xyz) / scale.xyz , 0);
+    }
+
+    float4 TransformPointUnscaled(float4 pnt)
+    {
+        return float4(translation.xyz + rotate_vector(rotation,pnt.xyz), 0);
+    }
+    
+    float4 InverseTransformPointUnscaled(float4 pnt)
+    {
+        return float4(rotate_vector(q_conj(rotation), (pnt - translation).xyz), 0);
+    }
+
+    float4 TransformDirection(float4 dir)
+    {
+        return float4(rotate_vector(rotation, dir.xyz), 0);
+    }
+
+    float4 InverseTransformDirection(float4 dir)
+    {
+        return float4(rotate_vector(q_conj(rotation), dir.xyz), 0);
+    }
+
+    float4 TransformVector(float4 vect)
+    {
+        return float4(rotate_vector(rotation, (vect * scale).xyz), 0);
+    }
+
+    float4 InverseTransformVector(float4 vect)
+    {
+        return float4(rotate_vector(q_conj(rotation),vect.xyz) / scale.xyz, 0);
+    }
+
+    transform Multiply(transform b)
+    {
+        return Transform(this.TransformPoint(b.translation),
+                         qmul(this.rotation,b.rotation),
+                         this.scale * b.scale);
+    }
+};
+
+
+
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc.meta b/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc.meta
new file mode 100644
index 00000000..f749fcd8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/Transform.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 7e54b6c6b777643958abffa4510e0518
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute b/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute
new file mode 100644
index 00000000..619c9302
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute
@@ -0,0 +1,208 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+struct BIHNode
+{
+    int firstChild;     /**< index of the first child node. The second one is right after the first.*/
+    int start;          /**< index of the first element in this node.*/
+    int count;          /**< amount of elements in this node.*/
+
+    int axis;           /**< axis of the split plane (0,1,2 = x,y,z)*/
+    float min_;         /**< minimum split plane*/
+    float max_;         /**< maximum split plane*/
+};
+
+struct TriangleMeshHeader 
+{
+    int firstNode;
+    int nodeCount;
+    int firstTriangle;
+    int triangleCount;
+    int firstVertex;
+    int vertexCount;
+};
+
+struct Triangle
+{
+    int i1;
+    int i2;
+    int i3;
+    aabb b;
+};
+
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// triangle mesh data:
+StructuredBuffer<TriangleMeshHeader> triangleMeshHeaders;
+StructuredBuffer<BIHNode> bihNodes;
+StructuredBuffer<Triangle> triangles;
+StructuredBuffer<float3> vertices;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+float deltaTime;
+
+struct TriangleMesh : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+
+    CachedTri tri;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+       float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        float4 bary = FLOAT4_ZERO;
+        float4 nearestPoint = NearestPointOnTri(tri, pnt, bary);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * TRIANGLE_MESH_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[TRIANGLE_MESH_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    TriangleMeshHeader header = triangleMeshHeaders[s.dataIndex];
+    
+    TriangleMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = s;
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+
+        BIHNode node = bihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Triangle t = triangles[header.firstTriangle + dataOffset];
+                float4 v1 = float4(vertices[header.firstVertex + t.i1], 0);
+                float4 v2 = float4(vertices[header.firstVertex + t.i2], 0);
+                float4 v3 = float4(vertices[header.firstVertex + t.i3], 0);
+                aabb triangleBounds;
+                triangleBounds.FromTriangle(v1, v2, v3, marginCS);
+
+                if (triangleBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+                    float4 simplexPoint;
+
+                    meshShape.tri.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale, v3 * meshShape.colliderToSolver.scale);
+
+                    SurfacePoint surfacePoint = Optimize(meshShape, positions, orientations, principalRadii,
+                                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    /*float4 rbVelocity = float4.zero;
+                    if (rigidbodyIndex >= 0)
+                        rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
+
+                    float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+                    float vel = dot(velocity     /*- rbVelocity*/, surfacePoint.normal); 
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = surfacePoint.pos;
+                            c.normal = surfacePoint.normal * meshShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+                            
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta
new file mode 100644
index 00000000..a677721a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a5454af20f9614aa79e51a90271093e3
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute b/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute
new file mode 100644
index 00000000..4f6e3d71
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute
@@ -0,0 +1,153 @@
+#pragma kernel Gradients
+#pragma kernel CalculateVolume
+#pragma kernel Denominators
+#pragma kernel Constraint
+#pragma kernel AccumulateDeltas
+#pragma kernel Apply
+
+//#pragma kernel Project
+//#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> triangles;
+StructuredBuffer<int> firstTriangle;
+StructuredBuffer<int> numTriangles;
+StructuredBuffer<float> restVolumes;
+StructuredBuffer<float2> pressureStiffness;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<uint> denominators; 
+RWStructuredBuffer<uint> volumes; 
+RWStructuredBuffer<uint4> gradients; 
+
+StructuredBuffer<int> particles;
+StructuredBuffer<int> particleConstraintIndex;
+StructuredBuffer<int> triangleConstraintIndex;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+uint trianglesCount;
+uint particlesCount;
+
+float deltaTime;
+float sorFactor;
+
+
+void AccumulateGradient(in int index, in float3 grad)
+{
+    InterlockedAddFloat(gradients, index, 0, grad.x);
+    InterlockedAddFloat(gradients, index, 1, grad.y);
+    InterlockedAddFloat(gradients, index, 2, grad.z);
+}
+
+[numthreads(128, 1, 1)]
+void Gradients (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= trianglesCount) return;
+  
+    int v = i * 3;
+    int i1 = triangles[v];
+    int i2 = triangles[v + 1];
+    int i3 = triangles[v + 2];
+
+    //accumulate gradient for each particle in the triangle:
+    AccumulateGradient(i1,cross(positions[i2].xyz, positions[i3].xyz));
+    AccumulateGradient(i2,cross(positions[i3].xyz, positions[i1].xyz));
+    AccumulateGradient(i3,cross(positions[i1].xyz, positions[i2].xyz));
+}
+
+[numthreads(128, 1, 1)]
+void CalculateVolume (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= trianglesCount) return;
+  
+    int constraintIndex = triangleConstraintIndex[i];
+
+    int v = i * 3;
+    int i1 = triangles[v];
+    int i2 = triangles[v + 1];
+    int i3 = triangles[v + 2];
+
+    float vol = dot(cross(positions[i1].xyz, positions[i2].xyz), positions[i3].xyz) / 6.0f;
+    InterlockedAddFloat(volumes, triangleConstraintIndex[i],vol);
+}
+
+// One denominator per constraint
+// each particle in the constraint contributes only once.
+
+[numthreads(128, 1, 1)]
+void Denominators (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particlesCount) return;
+
+    int p = particles[i];
+
+    float3 grad = asfloat(gradients[p]).xyz;
+    float denom = invMasses[p] * dot(grad, grad);
+    InterlockedAddFloat(denominators, particleConstraintIndex[i], denom);
+}
+
+[numthreads(128, 1, 1)]
+void Constraint (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    float compliance = pressureStiffness[i].y / (deltaTime * deltaTime);
+
+    // equality constraint: volume - pressure * rest volume = 0
+    float constraint = asfloat(volumes[i]) - pressureStiffness[i].x * restVolumes[i];
+
+    // calculate lagrange multiplier delta:
+    float dlambda = (-constraint - compliance * 0) / (asfloat(denominators[i]) + compliance + EPSILON);
+    lambdas[i] = dlambda;//+= dlambda;
+
+    volumes[i] = asuint(0);
+    denominators[i] = asuint(0);
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particlesCount) return;
+
+    int p = particles[i];
+    int c = particleConstraintIndex[i];
+
+    AddPositionDelta(p, lambdas[c] * invMasses[p] * asfloat(gradients[p]));
+    gradients[p] = asuint(FLOAT4_ZERO);
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    for (int j = 0; j < numTriangles[i]; ++j)
+    {
+        int v = (firstTriangle[i] + j) * 3;
+        int p1 = triangles[v];
+        int p2 = triangles[v + 1];
+        int p3 = triangles[v + 2];
+
+        ApplyPositionDelta(positions, p1, sorFactor);
+        ApplyPositionDelta(positions, p2, sorFactor);
+        ApplyPositionDelta(positions, p3, sorFactor);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute.meta b/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute.meta
new file mode 100644
index 00000000..33f05bbe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/Compute/VolumeConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: fef3adb748a41466696a32b41ecc8831
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset b/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset
new file mode 100644
index 00000000..1cd5bb94
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset
@@ -0,0 +1,26 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
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+  m_Name: DefaultRopeSection
+  m_EditorClassIdentifier: 
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+  - {x: 1, y: 0.00000017484555}
+  snapX: 32
+  snapY: 32
diff --git a/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset.meta b/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset.meta
new file mode 100644
index 00000000..989bd9ac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/DefaultRopeSection.asset.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: a0bc36a59515f413e90e10895929c938
+labels:
+- ObiRope
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diff --git a/xiaofang/Assets/Obi/Resources/GUI.meta b/xiaofang/Assets/Obi/Resources/GUI.meta
new file mode 100644
index 00000000..63fee6bd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/GUI.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: bd46757354fbf4182af57f2913e20fc1
+folderAsset: yes
+timeCreated: 1474532461
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/GUI/ProfilerSkin.guiskin b/xiaofang/Assets/Obi/Resources/GUI/ProfilerSkin.guiskin
new file mode 100644
index 00000000..1265b3e6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/GUI/ProfilerSkin.guiskin
@@ -0,0 +1,1494 @@
+%YAML 1.1
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces.meta
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader b/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader
new file mode 100644
index 00000000..346c696c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader
@@ -0,0 +1,51 @@
+// Upgrade NOTE: upgraded instancing buffer 'Props' to new syntax.
+
+Shader "Standard (Vertex Colors)" {
+	Properties {
+		_Color ("Color", Color) = (1,1,1,1)
+		_MainTex ("Albedo (RGB)", 2D) = "white" {}
+		_Glossiness ("Smoothness", Range(0,1)) = 0.5
+		_Metallic ("Metallic", Range(0,1)) = 0.0
+	}
+	SubShader {
+		Tags { "RenderType"="Opaque" }
+		LOD 200
+		
+		CGPROGRAM
+		// Physically based Standard lighting model, and enable shadows on all light types
+		#pragma surface surf Standard fullforwardshadows
+
+		// Use shader model 3.0 target, to get nicer looking lighting
+		#pragma target 3.0
+
+		sampler2D _MainTex;
+
+		struct Input {
+	        float2 uv_MainTex;
+	        float4 vcolor : COLOR;
+	    };
+
+		half _Glossiness;
+		half _Metallic;
+		fixed4 _Color;
+
+		// Add instancing support for this shader. You need to check 'Enable Instancing' on materials that use the shader.
+		// See https://docs.unity3d.com/Manual/GPUInstancing.html for more information about instancing.
+		// #pragma instancing_options assumeuniformscaling
+		UNITY_INSTANCING_BUFFER_START(Props)
+			// put more per-instance properties here
+		UNITY_INSTANCING_BUFFER_END(Props)
+
+		void surf (Input IN, inout SurfaceOutputStandard o) {
+			// Albedo comes from a texture tinted by color
+			fixed4 c = tex2D (_MainTex, IN.uv_MainTex) * _Color * IN.vcolor;
+			o.Albedo = c.rgb;
+			// Metallic and smoothness come from slider variables
+			o.Metallic = _Metallic;
+			o.Smoothness = _Glossiness;
+			o.Alpha = c.a;
+		}
+		ENDCG
+	}
+	FallBack "Diffuse"
+}
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader.meta
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta
new file mode 100644
index 00000000..299e5200
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 4df17ed533d3349a194f3bb8c89dcf5d
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 625f186215c104763be7675aa2d941aa, type: 3}
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc
new file mode 100644
index 00000000..44c796b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc
@@ -0,0 +1,33 @@
+#ifndef PROCEDURAL_INCLUDED
+#define PROCEDURAL_INCLUDED
+
+#define UNITY_INDIRECT_DRAW_ARGS IndirectDrawIndexedArgs
+#include "UnityIndirect.cginc"
+
+StructuredBuffer<float4x4> _InstanceTransforms;
+StructuredBuffer<float4x4> _InvInstanceTransforms;
+StructuredBuffer<float4> _Colors;
+
+#if UNITY_ANY_INSTANCING_ENABLED
+    // Based on : 
+    // https://github.com/Unity-Technologies/Graphics/blob/master/com.unity.shadergraph/Editor/Generation/Targets/BuiltIn/ShaderLibrary/ParticlesInstancing.hlsl
+    // and/or
+    // https://github.com/TwoTailsGames/Unity-Built-in-Shaders/blob/master/CGIncludes/UnityStandardParticleInstancing.cginc
+
+    void vertInstancingSetup() {
+    }
+#endif
+
+void GetInstanceData_float(uint svInstanceID, float3 pos, out float3 outPos, out float4 color)
+{
+    InitIndirectDrawArgs(0);
+    uint instanceID = GetIndirectInstanceID_Base(svInstanceID);
+        
+    unity_ObjectToWorld = _InstanceTransforms[instanceID];
+    unity_WorldToObject = _InvInstanceTransforms[instanceID];
+    color = _Colors[instanceID];
+
+    outPos = pos;
+}
+
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta
new file mode 100644
index 00000000..68b2e76d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 9d77a2f1bd0624d4aa045916cb0955c9
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc
new file mode 100644
index 00000000..63513cb9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc
@@ -0,0 +1,103 @@
+#ifndef OBIELLIPSOIDS_INCLUDED
+#define OBIELLIPSOIDS_INCLUDED
+
+// Eye ray origin in world space.
+// Works both for orthographic and perspective cameras.
+float3 WorldEye(float3 worldPos){
+	if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+		return mul(UNITY_MATRIX_I_V,float4(mul(UNITY_MATRIX_V, float4(worldPos,1)).xy,0,1)).xyz;
+	}else
+		return _WorldSpaceCameraPos;
+}
+
+// Returns visible ellipsoid radius and offset from center, given the eye position in parameter space. 
+// Works both for orthographic and perspective cameras.
+float VisibleEllipsoidCircleRadius(float3 eye, out float3 m){
+	if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+		m = float3(0,0,0);
+		return 1;
+	}else{
+		float t = 1/dot(eye,eye);
+		m = t * eye;
+		return sqrt(1-t);
+	}
+}
+
+// Performs accurate raycasting of a spherical impostor.
+// Works both for orthographic and perspective cameras.
+float IntersectEllipsoid(float3 v, float4 mapping, float3 a2, float3 a3, out float3 eyePos, out float3 eyeNormal)
+{
+	float r2 = dot(mapping.xy, mapping.xy);
+	float iq = 1 - r2/mapping.w;
+	clip(iq); // the ray does not intersect the sphere.
+
+	float sqrtiq = sqrt(iq);
+	float lambda = 1/(1 + mapping.z * sqrtiq);
+
+	eyePos = lambda * v;
+	eyeNormal = normalize(a2 + lambda * a3);
+
+	// return gaussian-falloff thickness.
+	return 2 * sqrtiq * exp(-r2*2.0f);
+}
+
+void BuildVelocityStretchedBasis(float3 velocity, float stretchIntensity, float radius, out float4 t0, out float4 t1, out float4 t2)
+{
+    t0 = float4(UNITY_MATRIX_V[0].xyz, radius); // camera right vector
+    t2 = float4(UNITY_MATRIX_V[2].xyz, radius); // camera forward vector
+
+    float3 eyeVel = velocity - dot(velocity, t2.xyz) * t2.xyz;
+    float velNorm = length(eyeVel);
+    float stretchAmount = velNorm * stretchIntensity;
+
+    // use it to lerp between velocity vector and camera right:
+    t0 = float4(velNorm > 0.00001 ? eyeVel / velNorm : t0, radius * (1 + stretchAmount));
+    t1 = float4(normalize(cross(t0.xyz,t2.xyz)), radius);
+}
+
+void BuildParameterSpaceMatrices(float4 t0, float4 t1, float4 t2, out float3x3 P, out float3x3 IP)
+{
+	// build 3x3 orientation matrix and its inverse;
+	float3x3 IO = float3x3(t0.xyz,t1.xyz,t2.xyz);
+	float3x3 O = transpose(IO);
+
+	// build 3x3 scaling matrix and its inverse:
+	float3x3 S = float3x3(t0.w,0,0,0,t1.w,0,0,0,t2.w);
+	float3x3 IS = float3x3(1/t0.w,0,0,0,1/t1.w,0,0,0,1/t2.w);
+
+	// build 3x3 transformation matrix and its inverse:
+    P = mul((float3x3)unity_ObjectToWorld,  mul(O,mul(S,IO)) );
+    IP = mul(mul(mul(O,IS),IO), (float3x3)unity_WorldToObject);
+}
+
+float BuildEllipsoidBillboard(float3 center, float3 corner, float3x3 P, float3x3 IP, out float3 worldPos, out float3 view, out float3 eye)
+{
+	// eye position and quad vectors in parameter space:
+	eye = mul(IP, WorldEye(center) - center);
+	float3 u = normalize(cross(-eye,UNITY_MATRIX_V[1].xyz));
+	float3 k = normalize(cross(-eye,u));
+
+	// visible circle radius and offset from center in the direction of the view ray:
+	float3 m;
+	float radius = VisibleEllipsoidCircleRadius(eye,m);
+
+	// world position of the billboard corner, and view vector to it:
+	worldPos = center + mul(P, m) + radius * (mul(P,u)* corner.x + mul(P,k)* corner.y);
+	view = worldPos - WorldEye(worldPos);
+
+	return radius;
+}
+
+void BuildAuxiliaryNormalVectors(float3 center, float3 worldPos, float3 view, float3x3 P, float3x3 IP, out float3 a2, out float3 a3)
+{
+    // calculate T^-2 in object space, then multiply by 
+    // inverse transpose of modelview to rotate normal from object to eye. 
+    // This way the normal calculated in IntersectEllipsoid() is already in view space.
+    IP = mul((float3x3)unity_ObjectToWorld,IP);
+    float3x3 IP2 = mul((float3x3)UNITY_MATRIX_IT_MV, mul((float3x3)unity_WorldToObject,mul (IP, IP)));
+
+	a2 = mul(IP2,WorldEye(worldPos) - center); //T^-2 * (eye - center)
+	a3 = mul(IP2,view); 					   //T^-2 * A[0]
+}
+
+#endif
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc.meta
new file mode 100644
index 00000000..f4ed8219
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 083c49fc96643477889bfd68e70cf998
+timeCreated: 1445285630
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc
new file mode 100644
index 00000000..e850de75
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc
@@ -0,0 +1,104 @@
+#ifndef OBIELLIPSOIDS_INCLUDED
+#define OBIELLIPSOIDS_INCLUDED
+
+// Eye ray origin in world space.
+// Works both for orthographic and perspective cameras.
+float3 WorldEye(float3 worldPos){
+    if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+        return mul(UNITY_MATRIX_I_V,float4(mul(UNITY_MATRIX_V, float4(worldPos,1)).xy,0,1)).xyz;
+    }else
+        return _WorldSpaceCameraPos;
+}
+
+// Returns visible ellipsoid radius and offset from center, given the eye position in parameter space. 
+// Works both for orthographic and perspective cameras.
+float VisibleEllipsoidCircleRadius(float3 eye, out float3 m){
+    if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+        m = float3(0,0,0);
+        return 1;
+    }else{
+        float t = 1/dot(eye,eye);
+        m = t * eye;
+        return sqrt(1-t);
+    }
+}
+
+// Performs accurate raycasting of a spherical impostor.
+// Works both for orthographic and perspective cameras.
+void IntersectEllipsoid_float(float3 v, float4 mapping, float3 a2, float3 a3, out float3 eyePos, out float3 eyeNormal, out float thickness, out float clipThreshold)
+{
+    float r2 = dot(mapping.xy, mapping.xy);
+
+    // clip if the ray does not intersect the sphere.
+    clipThreshold = r2/mapping.w;
+    float iq = 1 - clipThreshold;
+
+    float sqrtiq = sqrt(iq);
+    float lambda = 1/(1 + mapping.z * sqrtiq);
+
+    eyePos = lambda * v;
+    eyeNormal = normalize(a2 + lambda * a3);
+
+    // return gaussian-falloff thickness.
+    thickness = 2 * sqrtiq * exp(-r2*2.0f);
+}
+
+void BuildVelocityStretchedBasis_float(float3 velocity, float stretchIntensity, float radius, out float4 t0, out float4 t1, out float4 t2)
+{
+    t0 = float4(UNITY_MATRIX_V[0].xyz, radius); // camera right vector
+    t2 = float4(UNITY_MATRIX_V[2].xyz, radius); // camera forward vector
+
+    float3 eyeVel = velocity - dot(velocity, t2.xyz) * t2.xyz;
+    float velNorm = length(eyeVel);
+    float stretchAmount = velNorm * stretchIntensity;
+
+    // use it to lerp between velocity vector and camera right:
+    t0 = float4(velNorm > 0.00001 ? eyeVel / velNorm : t0.xyz, radius * (1 + stretchAmount));
+    t1 = float4(normalize(cross(t0.xyz,t2.xyz)), radius);
+}
+
+void BuildParameterSpaceMatrices_float(float4 t0, float4 t1, float4 t2, float radiusScale, out float3x3 P, out float3x3 IP)
+{
+    // build 3x3 orientation matrix and its inverse;
+    float3x3 IO = float3x3(t0.xyz,t1.xyz,t2.xyz);
+    float3x3 O = transpose(IO);
+
+    // build 3x3 scaling matrix and its inverse:
+    float3x3 S = float3x3(radiusScale*t0.w,0,0,0,radiusScale*t1.w,0,0,0,radiusScale*t2.w);
+    float3x3 IS = float3x3(1/(radiusScale*t0.w),0,0,0,1/(radiusScale*t1.w),0,0,0,1/(radiusScale*t2.w));
+
+    // build 3x3 transformation matrix and its inverse:
+    P = mul((float3x3)UNITY_MATRIX_M,  mul(O,mul(S,IO)) );
+    IP = mul(mul(mul(O,IS),IO), (float3x3)UNITY_MATRIX_I_M);
+}
+
+void BuildEllipsoidBillboard_float(float3 center, float3 corner, float3x3 P, float3x3 IP, out float3 worldPos, out float3 view, out float3 eye, out float radius)
+{
+    // eye position and quad vectors in parameter space:
+    eye = mul(IP,WorldEye(center) - center);
+    float3 u = normalize(cross(-eye,UNITY_MATRIX_V[1].xyz));
+    float3 k = normalize(cross(-eye,u));
+
+    // visible circle radius and offset from center in the direction of the view ray:
+    float3 m;
+    radius = VisibleEllipsoidCircleRadius(eye,m);
+
+    // world position of the billboard corner, and view vector to it:
+    worldPos = center + mul(P, m) + radius * (mul(P,u)* corner.x + mul(P,k)* corner.y);
+    view = worldPos - WorldEye(worldPos);
+}
+
+void BuildAuxiliaryNormalVectors_float(float3 center, float3 worldPos, float3 view, float3x3 P, float3x3 IP, out float3 a2, out float3 a3)
+{
+    // calculate T^-2 in object space, then multiply by 
+    // inverse transpose of modelview to rotate normal from object to eye. 
+    // This way the normal calculated in IntersectEllipsoid() is already in view space.
+    IP = mul((float3x3)UNITY_MATRIX_M,IP);
+    float3x3 IT_MV = transpose(mul((float3x3)UNITY_MATRIX_I_V, (float3x3)UNITY_MATRIX_I_M));
+    float3x3 IP2 = mul(IT_MV, mul((float3x3)UNITY_MATRIX_I_M,mul (IP, IP))); // UNITY_MATRIX_IT_MV
+
+    a2 = mul(IP2,WorldEye(worldPos) - center); //T^-2 * (eye - center)
+    a3 = mul(IP2,view);                        //T^-2 * A[0]
+}
+
+#endif
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta
new file mode 100644
index 00000000..62b29876
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: bc807595df1f54350ac0027aaf7cb91b
+ShaderIncludeImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc
new file mode 100644
index 00000000..bd161f27
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc
@@ -0,0 +1,28 @@
+#ifndef OBIUTILS_INCLUDED
+#define OBIUTILS_INCLUDED
+
+float4x4 _Camera_to_World;
+
+// abstract texture declaration/sampling over built-in and SRPs:
+#ifndef TEXTURE2D
+#define TEXTURE2D(name) sampler2D name
+#endif
+
+#ifndef TEXTURE2D_HALF
+#define TEXTURE2D_HALF(name) sampler2D_half name
+#endif
+
+#ifndef TEXTURE2D_FLOAT
+#define TEXTURE2D_FLOAT(name) sampler2D_float name
+#endif
+
+#ifndef SAMPLE_TEXTURE2D
+#define SAMPLE_TEXTURE2D(textureName, samplerName, coord2) tex2D(textureName,coord2)
+#endif
+
+#ifndef SAMPLER
+#define SAMPLER(samplerName)
+#endif
+
+
+#endif
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc.meta
new file mode 100644
index 00000000..d7668afa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc.meta
@@ -0,0 +1,9 @@
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+timeCreated: 1445285630
+licenseType: Store
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph
new file mode 100644
index 00000000..4b61fbcd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph
@@ -0,0 +1,5867 @@
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat.meta
new file mode 100644
index 00000000..51f5da28
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+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat.meta
@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader b/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader
new file mode 100644
index 00000000..cbcc6f96
--- /dev/null
+++ b/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader
@@ -0,0 +1,66 @@
+Shader "Obi/DistanceFieldSlice"
+{
+	Properties
+	{
+		_MainTex ("Texture", 2D) = "white" {}
+	}
+	SubShader
+	{
+		Tags { "RenderType"="Opaque" }
+		LOD 100
+
+		Cull Off
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+				float4 vertex : SV_POSITION;
+			};
+
+			sampler2D _MainTex;
+			float4 _MainTex_ST;
+			
+			v2f vert (appdata v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				o.uv = TRANSFORM_TEX(v.uv, _MainTex);
+				return o;
+			}
+			
+			half4 frag (v2f i) : SV_Target
+			{
+				half dist = tex2D(_MainTex, i.uv).x-0.5; // signed distance
+				half adist = abs(dist);					 // absolute distance
+				half isofunc = sin(adist*40);			 // isolines function
+
+				// antialiased isolines:
+				half change = fwidth(isofunc);
+				half isolines = smoothstep(-change,change,isofunc);
+
+				// antialiazed sign:
+				change = fwidth(dist);
+				half sign = smoothstep(-change,change,dist);
+				
+				half final = (1-adist) * (0.85+isolines*0.15);
+
+				return half4(final,final*sign,final*sign,1);
+			}
+			ENDCG
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader.meta b/xiaofang/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader.meta
new file mode 100644
index 00000000..e48de3bb
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@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Samples.meta b/xiaofang/Assets/Obi/Samples.meta
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diff --git a/xiaofang/Assets/Obi/Samples/Common.meta b/xiaofang/Assets/Obi/Samples/Common.meta
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim
new file mode 100644
index 00000000..933dadfa
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+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim
@@ -0,0 +1,205 @@
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index 00000000..af40a9d2
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller
new file mode 100644
index 00000000..abdf16d8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx
new file mode 100644
index 00000000..4ae25cb2
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx.meta
new file mode 100644
index 00000000..64095f57
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx.meta
@@ -0,0 +1,2376 @@
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+      4: 400058
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+      4: 400062
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+      4: 400064
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+      4: 400066
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+      4: 400072
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+      4: 400074
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+      4: 400076
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+      4: 400078
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+      4: 400080
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+      4: 400082
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+      4: 400084
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+      4: 400086
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+      4: 400088
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+      4: 400090
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+      4: 400092
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+      4: 400094
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+      4: 400096
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+      4: 400098
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+      4: 400100
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+      4: 400102
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+      4: 400104
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+      4: 400106
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+      4: 400108
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+      4: 400110
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+      4: 400112
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+      4: 400114
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+      4: 400116
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400130
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+      4: 400132
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+      4: 400134
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+      4: 400136
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+      4: 400138
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+      4: 400140
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+      4: 400142
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+      4: 400144
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+      4: 400146
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+      4: 400148
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+      4: 400150
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+      4: 400152
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+      4: 400156
+    second: LToeBase_End3
+  - first:
+      4: 400158
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+      4: 400160
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+      4: 400162
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+      4: 400164
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+      4: 400166
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+      4: 400168
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+      4: 400170
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+      4: 400172
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+      4: 400178
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+      4: 400180
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+      4: 400182
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+      4: 400184
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+      4: 400186
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+      4: 400188
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+  - first:
+      4: 400190
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+      4: 400192
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+  - first:
+      4: 400194
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+      4: 400196
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+      4: 400198
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+  - first:
+      4: 400200
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+  - first:
+      4: 400202
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+      4: 400204
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+      4: 400206
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+  - first:
+      4: 400208
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+  - first:
+      4: 400210
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+      4: 400212
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+      4: 400214
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+      4: 400216
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+      4: 400218
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+  - first:
+      4: 400220
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+      4: 400222
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+  - first:
+      4: 400224
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+  - first:
+      4: 400226
+    second: RightFoot
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+      4: 400228
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+      4: 400230
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+      4: 400232
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+      4: 400234
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+      4: 400236
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+      4: 400238
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+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400246
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+      4: 400248
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+      4: 400250
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+      4: 400252
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+      4: 400254
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+      4: 400256
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+      4: 400258
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+  - first:
+      4: 400260
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+      4: 400262
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+  - first:
+      4: 400264
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+  - first:
+      4: 400266
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+      4: 400268
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+      4: 400270
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+      4: 400272
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+      4: 400274
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+      4: 400276
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+      4: 400278
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+      4: 400280
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+      4: 400282
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+      4: 400284
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+      4: 400286
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+  - first:
+      4: 400288
+    second: TongueBack
+  - first:
+      4: 400290
+    second: TongueTip
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+      4: 400292
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+      4: 400294
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+  - first:
+      4: 400296
+    second: UNI_01_TongueTipProxy
+  - first:
+      4: 400298
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+      23: 2300000
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+      23: 2300002
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+      23: 2300004
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+      23: 2300006
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+      23: 2300008
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+      23: 2300010
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+      23: 2300012
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+      23: 2300014
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+      23: 2300018
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+      23: 2300024
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+      23: 2300030
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+      23: 2300032
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+      23: 2300034
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+      23: 2300036
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+      23: 2300038
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+  - first:
+      23: 2300040
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+      23: 2300042
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+      23: 2300044
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+      23: 2300046
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+      23: 2300048
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+  - first:
+      23: 2300050
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+      23: 2300052
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+      23: 2300054
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+      23: 2300056
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+      23: 2300058
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+      23: 2300060
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+      23: 2300062
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+      23: 2300064
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+      23: 2300066
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+      23: 2300070
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+      23: 2300084
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+      23: 2300096
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+      23: 2300100
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+      23: 2300106
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+      23: 2300108
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+  - first:
+      23: 2300110
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+      23: 2300112
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+      23: 2300114
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+      33: 3300000
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+      33: 3300004
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+      33: 3300006
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+      33: 3300010
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+      33: 3300040
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+      33: 3300044
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+      33: 3300048
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+      33: 3300082
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+      33: 3300108
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+  - first:
+      33: 3300110
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+      33: 3300112
+    second: UNI_01_TongueTipProxy
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+      33: 3300114
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+      43: 4300008
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+      43: 4300014
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+      43: 4300050
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+      43: 4300052
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+      43: 4300054
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+      43: 4300056
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+      43: 4300058
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+      43: 4300062
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+      43: 4300080
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+      43: 4300090
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+      43: 4300092
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx
new file mode 100644
index 00000000..46919337
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx.meta
new file mode 100644
index 00000000..77ccf6a4
--- /dev/null
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx
new file mode 100644
index 00000000..419e2d78
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta
new file mode 100644
index 00000000..e5674299
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx
new file mode 100644
index 00000000..80f6e240
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta
new file mode 100644
index 00000000..15d8aea0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta
@@ -0,0 +1,2641 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx
new file mode 100644
index 00000000..72673a5b
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta
new file mode 100644
index 00000000..301b3af2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta
@@ -0,0 +1,2814 @@
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+- ObiRope
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx
new file mode 100644
index 00000000..d115096f
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx.meta
new file mode 100644
index 00000000..1bba047a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx.meta
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+      1: 100210
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+      1: 100224
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+      1: 100226
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+      1: 100266
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+      4: 400004
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+      4: 400006
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+      4: 400008
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+      4: 400012
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+      4: 400016
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+      4: 400018
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+      4: 400020
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+      4: 400064
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+      4: 400076
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+      4: 400138
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+      4: 400140
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+      4: 400144
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+      4: 400148
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+      4: 400158
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+      4: 400162
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+      4: 400224
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+      4: 400226
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+      4: 400288
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+      4: 400290
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+      4: 400292
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+      4: 400298
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurnSharp.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurnSharp.fbx
new file mode 100644
index 00000000..943fd1bc
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurnSharp.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurnSharp.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurnSharp.fbx.meta
new file mode 100644
index 00000000..38843bb5
--- /dev/null
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx
new file mode 100644
index 00000000..ec67bcdd
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx.meta
new file mode 100644
index 00000000..06779db0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx.meta
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx
new file mode 100644
index 00000000..7f7a2c5b
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx.meta
new file mode 100644
index 00000000..9a171ad5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx.meta
@@ -0,0 +1,2358 @@
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+      1: 100152
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+      1: 100154
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+      1: 100156
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+      1: 100158
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+      1: 100160
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+      1: 100162
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+      1: 100164
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+  - first:
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+      1: 100208
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+      1: 100210
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+      1: 100220
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+      1: 100222
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+      1: 100224
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+      1: 100226
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+      1: 100238
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+      1: 100264
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+      1: 100266
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+      1: 100268
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+      1: 100276
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+      1: 100284
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+      1: 100286
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+      1: 100294
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+      4: 400000
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+      4: 400002
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+      4: 400004
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+      4: 400006
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+      4: 400008
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+      4: 400010
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+      4: 400012
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+      4: 400014
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+      4: 400016
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+      4: 400018
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+      4: 400020
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+      4: 400064
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400138
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+      4: 400140
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index 00000000..1a84a3dd
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx
new file mode 100644
index 00000000..39425acd
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx.meta
new file mode 100644
index 00000000..e677c292
--- /dev/null
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+      1: 100276
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+      1: 100278
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+      1: 100280
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+      1: 100282
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+      1: 100284
+    second: TongueBack
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+      1: 100286
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+      1: 100288
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+      1: 100294
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+      4: 400000
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+      4: 400002
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+  - first:
+      4: 400004
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+      4: 400006
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+      4: 400008
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+      4: 400010
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+      4: 400012
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+      4: 400014
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+      4: 400016
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+      4: 400018
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+      4: 400020
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+      4: 400022
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+      4: 400024
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+      4: 400032
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+  - first:
+      4: 400034
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+  - first:
+      4: 400036
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+      4: 400038
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+      4: 400040
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+      4: 400046
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+      4: 400050
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+      4: 400052
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+  - first:
+      4: 400054
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+  - first:
+      4: 400056
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+      4: 400058
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+      4: 400060
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+  - first:
+      4: 400062
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+  - first:
+      4: 400064
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+      4: 400066
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+      4: 400068
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+      4: 400070
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+      4: 400072
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+      4: 400074
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+      4: 400076
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+      4: 400078
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+      4: 400080
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+      4: 400082
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+      4: 400084
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+      4: 400086
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+      4: 400088
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+      4: 400090
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+      4: 400092
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+      4: 400094
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+      4: 400096
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+      4: 400098
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+      4: 400100
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+      4: 400102
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+      4: 400104
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+      4: 400106
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+      4: 400108
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+      4: 400110
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+      4: 400112
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+      4: 400114
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+      4: 400116
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400130
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+      4: 400132
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+      4: 400134
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+      4: 400136
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+  - first:
+      4: 400138
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+      4: 400140
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+      4: 400142
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+      4: 400144
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+      4: 400146
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+      4: 400148
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+      4: 400150
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+      4: 400152
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+      4: 400154
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+      4: 400156
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+      4: 400158
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+      4: 400160
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+      4: 400162
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+      4: 400164
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+      4: 400166
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+      4: 400168
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+      4: 400170
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+      4: 400172
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+      4: 400176
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+      4: 400180
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+      4: 400190
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+      4: 400194
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+      4: 400200
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+      4: 400202
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+  - first:
+      4: 400206
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+  - first:
+      4: 400208
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+      4: 400210
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+      4: 400212
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+      4: 400214
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+      4: 400216
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+      4: 400218
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+      4: 400220
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+  - first:
+      4: 400222
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+      4: 400224
+    second: RightFoot
+  - first:
+      4: 400226
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+      4: 400228
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+      4: 400230
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+      4: 400232
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+      4: 400234
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+      4: 400236
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+      4: 400238
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+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400246
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+      4: 400248
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+      4: 400250
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+      4: 400252
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+      4: 400254
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+      4: 400256
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+      4: 400258
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+      4: 400260
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+      4: 400262
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+      4: 400264
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+      4: 400266
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+      4: 400268
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+      4: 400270
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+      4: 400272
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+      4: 400274
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+      4: 400276
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+      4: 400278
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+      4: 400280
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+      4: 400282
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+      4: 400284
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+  - first:
+      4: 400286
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+      4: 400288
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+      4: 400290
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+  - first:
+      4: 400292
+    second: UNI_01_TongueTipProxy
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+      4: 400294
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+      23: 2300000
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+      23: 2300002
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+      23: 2300004
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+      23: 2300006
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+      23: 2300008
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+      23: 2300016
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+      23: 2300018
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+      23: 2300024
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+      23: 2300032
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+      23: 2300036
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+      23: 2300038
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+      23: 2300040
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+      23: 2300042
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+      23: 2300044
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+      23: 2300048
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+      23: 2300050
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+      23: 2300052
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+      23: 2300056
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller
new file mode 100644
index 00000000..7bf86ec3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller
@@ -0,0 +1,937 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
new file mode 100644
index 00000000..05148223
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ActorCOMTransform : MonoBehaviour
+{
+   
+    public Vector3 offset;
+    public ObiActor actor;
+
+    public void Update()
+    {
+        if (actor != null && actor.isLoaded)
+        {
+            Vector3 com;
+            actor.GetMass(out com);
+            transform.position = actor.solver.transform.TransformPoint(com) + offset;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs.meta
new file mode 100644
index 00000000..8d256b6f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eaf186b4497d04a31853e3c6570848c7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
new file mode 100644
index 00000000..3589c736
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
@@ -0,0 +1,29 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ActorSpawner : MonoBehaviour {
+
+	public ObiActor template;
+
+	public int maxInstances = 32;
+	public float spawnDelay = 0.3f;
+
+	private int instances = 0;
+	private float timeFromLastSpawn = 0;
+	
+	// Update is called once per frame
+	void Update () {
+
+		timeFromLastSpawn += Time.deltaTime;
+
+		if (Input.GetMouseButtonDown(0) && instances < maxInstances && timeFromLastSpawn > spawnDelay)
+		{
+			GameObject go = Instantiate(template.gameObject,transform.position,Quaternion.identity);
+            go.transform.SetParent(transform.parent);
+			instances++;
+			timeFromLastSpawn = 0;
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta
new file mode 100644
index 00000000..e8de32b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 628acd4e2e0fc4c8eafc9a96563762a7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
new file mode 100644
index 00000000..b2551b99
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
@@ -0,0 +1,16 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiActor))]
+public class AddRandomVelocity : MonoBehaviour {
+
+	public float intensity = 5;
+
+    void Update () {
+		if (Input.GetKeyDown(KeyCode.Space)){
+			GetComponent<ObiActor>().AddForce(UnityEngine.Random.onUnitSphere*intensity,ForceMode.VelocityChange);
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs.meta
new file mode 100644
index 00000000..fb900153
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 16f6da785ba3d49c1aff763a6f55e424
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
new file mode 100644
index 00000000..89737408
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+
+public class Blinker : MonoBehaviour {
+
+	public Color highlightColor;
+
+ 	private Renderer rend;
+	private Color original;
+
+	void Awake(){
+		rend = GetComponent<Renderer>();
+		original = rend.material.color;
+	}
+
+	public void Blink(){
+		rend.material.color = highlightColor;
+	}
+
+	void LateUpdate(){
+		rend.material.color += (original - rend.material.color)*Time.deltaTime*5;
+	}
+
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs.meta
new file mode 100644
index 00000000..db54e62f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: b63f5717a039e488ab8ccfb80eda50e6
+timeCreated: 1494351303
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta
new file mode 100644
index 00000000..428e0c8f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 4a1b43750986e462db0a210922ad76b1
+folderAsset: yes
+timeCreated: 1518001485
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs
new file mode 100644
index 00000000..45b5f92b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs
@@ -0,0 +1,229 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi{
+
+	[RequireComponent(typeof(Rigidbody))]
+	[RequireComponent(typeof(CapsuleCollider))]
+	[RequireComponent(typeof(Animator))]
+	public class ObiCharacter : MonoBehaviour {
+	
+		[SerializeField] float m_MovingTurnSpeed = 360;
+		[SerializeField] float m_StationaryTurnSpeed = 180;
+		[SerializeField] float m_JumpPower = 12f;
+		[Range(1f, 4f)][SerializeField] float m_GravityMultiplier = 2f;
+		[SerializeField] float m_RunCycleLegOffset = 0.2f; //specific to the character in sample assets, will need to be modified to work with others
+		[SerializeField] float m_MoveSpeedMultiplier = 1f;
+		[SerializeField] float m_AnimSpeedMultiplier = 1f;
+		[SerializeField] float m_GroundCheckDistance = 0.1f;
+
+		Rigidbody m_Rigidbody;
+		Animator m_Animator;
+		bool m_IsGrounded;
+		float m_OrigGroundCheckDistance;
+		const float k_Half = 0.5f;
+		float m_TurnAmount;
+		float m_ForwardAmount;
+		Vector3 m_GroundNormal;
+		float m_CapsuleHeight;
+		Vector3 m_CapsuleCenter;
+		CapsuleCollider m_Capsule;
+		bool m_Crouching;
+
+		void Start()
+		{
+			Physics.IgnoreLayerCollision(LayerMask.NameToLayer("Default"),LayerMask.NameToLayer("Ignore Raycast"),true);
+
+			m_Animator = GetComponent<Animator>();
+			m_Rigidbody = GetComponent<Rigidbody>();
+			m_Capsule = GetComponent<CapsuleCollider>();
+			m_CapsuleHeight = m_Capsule.height;
+			m_CapsuleCenter = m_Capsule.center;
+
+			m_Rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
+			m_OrigGroundCheckDistance = m_GroundCheckDistance;
+		}
+
+
+		public void Move(Vector3 move, bool crouch, bool jump)
+		{
+
+			// convert the world relative moveInput vector into a local-relative
+			// turn amount and forward amount required to head in the desired
+			// direction.
+			if (move.magnitude > 1f) move.Normalize();
+			move = transform.InverseTransformDirection(move);
+			CheckGroundStatus();
+			move = Vector3.ProjectOnPlane(move, m_GroundNormal);
+			m_TurnAmount = Mathf.Atan2(move.x, move.z);
+			m_ForwardAmount = move.z;
+
+			ApplyExtraTurnRotation();
+
+			// control and velocity handling is different when grounded and airborne:
+			if (m_IsGrounded)
+			{
+				HandleGroundedMovement(crouch, jump);
+			}
+			else
+			{
+				HandleAirborneMovement();
+			}
+
+			ScaleCapsuleForCrouching(crouch);
+			PreventStandingInLowHeadroom();
+
+			// send input and other state parameters to the animator
+			UpdateAnimator(move);
+		}
+
+
+		void ScaleCapsuleForCrouching(bool crouch)
+		{
+			if (m_IsGrounded && crouch)
+			{
+				if (m_Crouching) return;
+				m_Capsule.height = m_Capsule.height / 2f;
+				m_Capsule.center = m_Capsule.center / 2f;
+				m_Crouching = true;
+			}
+			else
+			{
+				Ray crouchRay = new Ray(m_Rigidbody.position + Vector3.up * m_Capsule.radius * k_Half, Vector3.up);
+				float crouchRayLength = m_CapsuleHeight - m_Capsule.radius * k_Half;
+				if (Physics.SphereCast(crouchRay, m_Capsule.radius * k_Half, crouchRayLength, ~Physics.IgnoreRaycastLayer, QueryTriggerInteraction.Ignore))
+				{
+					m_Crouching = true;
+					return;
+				}
+				m_Capsule.height = m_CapsuleHeight;
+				m_Capsule.center = m_CapsuleCenter;
+				m_Crouching = false;
+			}
+		}
+
+		void PreventStandingInLowHeadroom()
+		{
+			// prevent standing up in crouch-only zones
+			if (!m_Crouching)
+			{
+				Ray crouchRay = new Ray(m_Rigidbody.position + Vector3.up * m_Capsule.radius * k_Half, Vector3.up);
+				float crouchRayLength = m_CapsuleHeight - m_Capsule.radius * k_Half;
+				if (Physics.SphereCast(crouchRay, m_Capsule.radius * k_Half, crouchRayLength, ~Physics.IgnoreRaycastLayer, QueryTriggerInteraction.Ignore))
+				{
+					m_Crouching = true;
+				}
+			}
+		}
+
+
+		void UpdateAnimator(Vector3 move)
+		{
+			// update the animator parameters
+            m_Animator.SetFloat("Forward", m_ForwardAmount, 0.1f, Time.deltaTime);
+            m_Animator.SetFloat("Turn", m_TurnAmount, 0.1f, Time.deltaTime);
+			m_Animator.SetBool("Crouch", m_Crouching);
+			m_Animator.SetBool("OnGround", m_IsGrounded);
+			if (!m_IsGrounded)
+			{
+				m_Animator.SetFloat("Jump", m_Rigidbody.velocity.y);
+			}
+
+			// calculate which leg is behind, so as to leave that leg trailing in the jump animation
+			// (This code is reliant on the specific run cycle offset in our animations,
+			// and assumes one leg passes the other at the normalized clip times of 0.0 and 0.5)
+			float runCycle =
+				Mathf.Repeat(
+					m_Animator.GetCurrentAnimatorStateInfo(0).normalizedTime + m_RunCycleLegOffset, 1);
+			float jumpLeg = (runCycle < k_Half ? 1 : -1) * m_ForwardAmount;
+			if (m_IsGrounded)
+			{
+				m_Animator.SetFloat("JumpLeg", jumpLeg);
+			}
+
+			// the anim speed multiplier allows the overall speed of walking/running to be tweaked in the inspector,
+			// which affects the movement speed because of the root motion.
+			if (m_IsGrounded && move.magnitude > 0)
+			{
+				m_Animator.speed = m_AnimSpeedMultiplier;
+			}
+			else
+			{
+				// don't use that while airborne
+				m_Animator.speed = 1;
+			}
+		}
+
+
+		void HandleAirborneMovement()
+		{
+			// apply extra gravity from multiplier:
+			Vector3 extraGravityForce = (Physics.gravity * m_GravityMultiplier) - Physics.gravity;
+			m_Rigidbody.AddForce(extraGravityForce);
+
+			m_GroundCheckDistance = m_Rigidbody.velocity.y < 0 ? m_OrigGroundCheckDistance : 0.01f;
+		}
+
+
+		void HandleGroundedMovement(bool crouch, bool jump)
+		{
+			// check whether conditions are right to allow a jump:
+			if (jump && !crouch && m_Animator.GetCurrentAnimatorStateInfo(0).IsName("Grounded"))
+			{
+				// jump!
+				m_Rigidbody.velocity = new Vector3(m_Rigidbody.velocity.x, m_JumpPower, m_Rigidbody.velocity.z);
+				m_IsGrounded = false;
+				m_Animator.applyRootMotion = false;
+				m_GroundCheckDistance = 0.1f;
+			}
+		}
+
+		void ApplyExtraTurnRotation()
+		{
+			// help the character turn faster (this is in addition to root rotation in the animation)
+			float turnSpeed = Mathf.Lerp(m_StationaryTurnSpeed, m_MovingTurnSpeed, m_ForwardAmount);
+            transform.Rotate(0, m_TurnAmount * turnSpeed * Time.deltaTime, 0);
+		}
+
+
+		public void OnAnimatorMove()
+		{
+			// we implement this function to override the default root motion.
+			// this allows us to modify the positional speed before it's applied.
+			if (m_IsGrounded)
+			{
+                Vector3 v = (m_Animator.deltaPosition * m_MoveSpeedMultiplier) / Time.deltaTime;
+
+				// we preserve the existing y part of the current velocity.
+				v.y = m_Rigidbody.velocity.y;
+				m_Rigidbody.velocity = v;
+			}
+		}
+
+
+		void CheckGroundStatus()
+		{
+			RaycastHit hitInfo;
+#if UNITY_EDITOR
+			// helper to visualise the ground check ray in the scene view
+			Debug.DrawLine(transform.position + (Vector3.up * 0.1f), transform.position + (Vector3.up * 0.1f) + (Vector3.down * m_GroundCheckDistance));
+#endif
+			// 0.1f is a small offset to start the ray from inside the character
+			// it is also good to note that the transform position in the sample assets is at the base of the character
+			if (Physics.Raycast(transform.position + (Vector3.up * 0.1f), Vector3.down, out hitInfo, m_GroundCheckDistance,~Physics.IgnoreRaycastLayer))
+			{
+				m_GroundNormal = hitInfo.normal;
+				m_IsGrounded = true;
+				m_Animator.applyRootMotion = true;
+			}
+			else
+			{
+				m_IsGrounded = false;
+				m_GroundNormal = Vector3.up;
+				m_Animator.applyRootMotion = false;
+			}
+		}
+	}
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta
new file mode 100644
index 00000000..43091bd6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 30974edc9036841cebffee1d18425185
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
new file mode 100644
index 00000000..93c6fb00
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
@@ -0,0 +1,72 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+namespace Obi{
+
+	[RequireComponent(typeof (ObiCharacter))]
+	public class SampleCharacterController : MonoBehaviour {
+	
+		private ObiCharacter m_Character; 			// A reference to the ThirdPersonCharacter on the object
+        private Transform m_Cam;                  // A reference to the main camera in the scenes transform
+        private Vector3 m_CamForward;             // The current forward direction of the camera
+        private Vector3 m_Move;
+        private bool m_Jump;                      // the world-relative desired move direction, calculated from the camForward and user input.
+        
+        private void Start()
+        {
+            // get the transform of the main camera
+            if (Camera.main != null)
+            {
+                m_Cam = Camera.main.transform;
+            }
+            else
+            {
+                Debug.LogWarning(
+                    "Warning: no main camera found. Third person character needs a Camera tagged \"MainCamera\", for camera-relative controls.");
+                // we use self-relative controls in this case, which probably isn't what the user wants, but hey, we warned them!
+            }
+
+            // get the third person character ( this should never be null due to require component )
+            m_Character = GetComponent<ObiCharacter>();
+        }
+
+
+        private void Update()
+        {
+            if (!m_Jump)
+            {
+                m_Jump = Input.GetButtonDown("Jump");
+            }
+
+			// read inputs
+			float h = Input.GetAxis("Horizontal");
+            float v = Input.GetAxis("Vertical");
+            bool crouch = Input.GetKey(KeyCode.C);
+
+            // calculate move direction to pass to character
+            if (m_Cam != null)
+            {
+                // calculate camera relative direction to move:
+                m_CamForward = Vector3.Scale(m_Cam.forward, new Vector3(1, 0, 1)).normalized;
+                m_Move = v*m_CamForward + h*m_Cam.right;
+            }
+            else
+            {
+                // we use world-relative directions in the case of no main camera
+                m_Move = v*Vector3.forward + h*Vector3.right;
+            }
+			#if !MOBILE_INPUT
+				// walk speed multiplier
+	       	 	if (Input.GetKey(KeyCode.LeftShift)) m_Move *= 0.5f;
+			#endif
+	
+            // pass all parameters to the character control script
+            m_Character.Move(m_Move, crouch, m_Jump);
+            m_Jump = false;
+        }
+
+	}
+
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta
new file mode 100644
index 00000000..b0aa0d0a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de9bce9a2c43c424d81e85ea229e0004
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
new file mode 100644
index 00000000..dcde1900
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
@@ -0,0 +1,45 @@
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class ColliderHighlighter : MonoBehaviour {
+
+ 	ObiSolver solver;
+
+	void Awake(){
+		solver = GetComponent<Obi.ObiSolver>();
+	}
+
+	void OnEnable () {
+		solver.OnCollision += Solver_OnCollision;
+	}
+
+	void OnDisable(){
+		solver.OnCollision -= Solver_OnCollision;
+	}
+	
+	void Solver_OnCollision (object sender, ObiNativeContactList e)
+	{
+        var colliderWorld = ObiColliderWorld.GetInstance();
+
+		for(int i = 0; i < e.count; ++i)
+		{
+			Oni.Contact c = e[i];
+			// make sure this is an actual contact:
+			if (c.distance < 0.01f)
+			{
+				// get the collider:
+				var col = colliderWorld.colliderHandles[c.bodyB].owner;
+
+				if (col != null)
+                {
+					// make it blink:
+					Blinker blinker = col.GetComponent<Blinker>();
+	
+					if (blinker)
+						blinker.Blink();
+				}
+			}
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta
new file mode 100644
index 00000000..e0551d0d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: ef31b6ca9a4124cb893de1adabbfab18
+timeCreated: 1458771359
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
new file mode 100644
index 00000000..5f9172d5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
@@ -0,0 +1,184 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class CollisionEventHandler : MonoBehaviour
+{
+
+    ObiSolver solver;
+    public int contactCount;
+
+    ObiNativeContactList frame;
+
+    void Awake()
+    {
+        solver = GetComponent<Obi.ObiSolver>();
+    }
+
+    void OnEnable()
+    {
+        solver.OnCollision += Solver_OnCollision;
+    }
+
+    void OnDisable()
+    {
+        solver.OnCollision -= Solver_OnCollision;
+    }
+
+    void Solver_OnCollision(object sender, ObiNativeContactList e)
+    {
+        frame = e;
+    }
+
+    void OnDrawGizmos()
+    {
+        if (solver == null || frame == null) return;
+
+        Gizmos.matrix = solver.transform.localToWorldMatrix;
+
+        contactCount = frame.count;
+
+        for (int i = 0; i < frame.count; ++i)
+        {
+            var contact = frame[i];
+
+            //if (contact.distance > 0.001f) continue;
+
+            Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+
+            //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+            Vector3 point = frame[i].pointB;
+
+            Gizmos.DrawSphere(point, 0.01f);
+
+            Gizmos.DrawRay(point, contact.normal * contact.distance);
+
+            Gizmos.color = Color.cyan;
+            //Gizmos.DrawRay(point, contact.tangent * contact.tangentImpulse + contact.bitangent * contact.bitangentImpulse);
+
+        }
+
+        /*for (int i = 0; i < frame.count; ++i)
+        {
+            var contact = frame[i];
+
+            //if (contact.distance > 0.001f) continue;
+
+            Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+
+            //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+            Vector3 point = Vector3.zero;//frame.contacts.Data[i].point;
+
+            int simplexStart = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSize);
+
+            float radius = 0;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                point += (Vector3)solver.positions[solver.simplices[simplexStart + j]] * contact.pointB[j];
+                radius += solver.principalRadii[solver.simplices[simplexStart + j]].x * contact.pointB[j];
+            }
+
+            Vector3 normal = contact.normal;
+
+            //Gizmos.DrawSphere(point + normal.normalized * frame.contacts[i].distance, 0.01f);
+
+            Gizmos.DrawSphere(point + normal * radius, 0.01f);
+
+            Gizmos.DrawRay(point + normal * radius, normal.normalized * contact.distance);
+        }*/
+    }
+
+}
+
+/*
+[RequireComponent(typeof(ObiSolver))]
+public class CollisionEventHandler : MonoBehaviour {
+
+ 	ObiSolver solver;
+	public int counter = 0;
+	public Collider targetCollider = null;
+
+	HashSet<int> particles = new HashSet<int>();
+
+	void Awake(){
+		solver = GetComponent<Obi.ObiSolver>();
+	}
+
+	void OnEnable () {
+		solver.OnCollision += Solver_OnCollision;
+	}
+
+	void OnDisable(){
+		solver.OnCollision -= Solver_OnCollision;
+	}
+	
+	void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
+	{
+		HashSet<int> currentParticles = new HashSet<int>();
+		
+		for(int i = 0;  i < e.contacts.Count; ++i)
+		{
+			if (e.contacts.Data[i].distance < 0.001f)
+			{
+
+				Component collider;
+				if (ObiCollider.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
+
+					if (collider == targetCollider)
+						currentParticles.Add(e.contacts.Data[i].particle);
+
+				}
+			}
+		}
+
+		particles.ExceptWith(currentParticles);
+		counter += particles.Count;
+		particles = currentParticles;
+	}
+
+}
+*/
+
+/*[RequireComponent(typeof(ObiSolver))]
+public class CollisionEventHandler : MonoBehaviour {
+
+ 	ObiSolver solver;
+	public Collider targetCollider = null;
+
+	void Awake(){
+		solver = GetComponent<Obi.ObiSolver>();
+	}
+
+	void OnEnable () {
+		solver.OnCollision += Solver_OnCollision;
+	}
+
+	void OnDisable(){
+		solver.OnCollision -= Solver_OnCollision;
+	}
+	
+	void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
+	{
+		
+		for(int i = 0;  i < e.contacts.Count; ++i)
+		{
+			if (e.contacts.Data[i].distance < 0.001f)
+			{
+				Component collider;
+				if (ObiCollider.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
+
+					if (collider == targetCollider)
+						
+						solver.viscosities[e.contacts.Data[i].particle] = Mathf.Max(0,solver.viscosities[e.contacts.Data[i].particle] - 0.1f * Time.fixedDeltaTime);
+	
+				}
+			}
+		}
+
+	}
+
+}*/
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs.meta
new file mode 100644
index 00000000..79eedd8e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: f6efd222d18e14e0b99e22b7fa35448c
+timeCreated: 1458771359
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
new file mode 100644
index 00000000..375904b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Sample script that colors fluid particles based on their vorticity (2D only)
+	 */
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorFromPhase : MonoBehaviour
+	{
+		ObiActor actor;
+
+		void Awake(){
+			actor = GetComponent<ObiActor>();
+		}
+
+		void LateUpdate()
+		{
+            if (!isActiveAndEnabled || actor.solver == null)
+				return;
+
+            for (int i = 0; i < actor.solverIndices.count; ++i)
+            {
+
+				int k = actor.solverIndices[i];
+				int phase = ObiUtils.GetGroupFromPhase(actor.solver.phases[k]);
+
+                actor.solver.colors[k] = ObiUtils.colorAlphabet[phase % ObiUtils.colorAlphabet.Length];
+
+            }
+		}
+	
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta
new file mode 100644
index 00000000..3c3a07fe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3252a39e388cf4229a933f0158ece73b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
new file mode 100644
index 00000000..54ac64cd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Sample script that colors fluid particles based on their vorticity (2D only)
+	 */
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorFromVelocity : MonoBehaviour
+	{
+		ObiActor actor;
+		public float sensibility = 0.2f;
+
+		void Awake(){
+			actor = GetComponent<ObiActor>();
+		}
+
+		public void OnEnable(){}
+
+		void LateUpdate()
+		{
+            if (!isActiveAndEnabled || actor.solver == null)
+				return;
+
+            for (int i = 0; i < actor.solverIndices.count; ++i){
+
+				int k = actor.solverIndices[i];
+
+				Vector4 vel = actor.solver.velocities[k];
+
+                actor.solver.colors[k] = new Color(Mathf.Clamp(vel.x / sensibility,-1,1) * 0.5f + 0.5f,
+											       Mathf.Clamp(vel.y / sensibility,-1,1) * 0.5f + 0.5f,
+											       Mathf.Clamp(vel.z / sensibility,-1,1) * 0.5f + 0.5f,1);
+
+			}
+		}
+	
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta
new file mode 100644
index 00000000..ecfa5185
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5acdea6dc69cb46f3ad3d92757580843
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
new file mode 100644
index 00000000..b130ca5c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+
+namespace Obi
+{
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorRandomizer : MonoBehaviour
+	{
+		ObiActor actor;
+		public Gradient gradient = new Gradient();
+
+		void Start()
+        {
+			actor = GetComponent<ObiActor>();
+            actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
+		}
+
+        private void Actor_OnBlueprintLoaded(ObiActor a, ObiActorBlueprint blueprint)
+        {
+            for (int i = 0; i < actor.solverIndices.count; ++i)
+            {
+                actor.solver.colors[actor.solverIndices[i]] = gradient.Evaluate(UnityEngine.Random.value);
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta
new file mode 100644
index 00000000..5b858de4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e479c6a54eba4250a39b1f9a46c3b14
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
new file mode 100644
index 00000000..25e1f211
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
@@ -0,0 +1,39 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[ExecuteInEditMode]
+[RequireComponent(typeof(ObiActor))]
+public class DebugParticleFrames : MonoBehaviour {
+
+	ObiActor actor;
+	public float size = 1;
+	
+	public void Awake()
+    {
+		actor = GetComponent<ObiActor>();
+	}
+	
+	// Update is called once per frame
+	void OnDrawGizmos () 
+    {
+        Vector4 b1 = new Vector4(1, 0, 0, 0);
+        Vector4 b2 = new Vector4(0, 1, 0, 0);
+        Vector4 b3 = new Vector4(0, 0, 1, 0);
+        for (int i = 0; i < actor.activeParticleCount; ++i)
+        {
+
+            Vector3 position = actor.GetParticlePosition(actor.solverIndices[i]);
+            Quaternion quat = actor.GetParticleOrientation(actor.solverIndices[i]);
+ 
+            Gizmos.color = Color.red;
+            Gizmos.DrawRay(position, quat * b1 * size);
+            Gizmos.color = Color.green;
+            Gizmos.DrawRay(position, quat * b2 * size);
+            Gizmos.color = Color.blue;
+            Gizmos.DrawRay(position, quat * b3 * size);
+		}
+	
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs.meta
new file mode 100644
index 00000000..59a21d00
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bab528011ba08418f99627d25a289fd3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
new file mode 100644
index 00000000..4f7a1346
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
@@ -0,0 +1,76 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ExtrapolationCamera : MonoBehaviour
+{
+    public Transform target = null;
+
+    public float extrapolation = 10;
+
+    [Range(0, 1)]
+    public float smoothness = 0.8f;
+
+    [Range(0, 1)]
+    public float linearSpeed = 1;
+
+    [Range(0, 1)]
+    public float rotationalSpeed = 1;
+
+    [Min(0)]
+    public float distanceFromTarget = 4;
+
+    Vector3 lastPosition;
+    Vector3 extrapolatedPos;
+
+    void Start()
+    {
+        if (target != null)
+            lastPosition = target.position;
+    }
+
+    private void FixedUpdate()
+    {
+        if (target != null)
+        {
+			// Get position delta since the last physics update:
+			Vector3 positionDelta = target.position - lastPosition;
+            positionDelta.y = 0;
+
+            // extrapolate position using velocity (the division/multiplication by Time.deltaTime simplify out)
+            extrapolatedPos = Vector3.Lerp(target.position + positionDelta * extrapolation, extrapolatedPos, smoothness);
+
+            // store the target's current com for the next frame:
+            lastPosition = target.position;
+        }
+    }
+
+    void LateUpdate()
+    {
+        if (target != null)
+        {
+            // get vector from the camera to the extrapolated position:
+            Vector3 toTarget = extrapolatedPos - transform.position;
+
+            // rotate the camera towards the extrapolated position:
+            transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.LookRotation(toTarget), rotationalSpeed);
+
+            // keep our current world space height:
+            toTarget.y = 0;
+
+            // move the camera towards the extrapolated position, keeping some distance to it:
+            transform.position += toTarget.normalized * (toTarget.magnitude - distanceFromTarget) * linearSpeed;
+
+        }
+    }
+
+    public void Teleport(Vector3 position, Quaternion rotation)
+    {
+        transform.position = position;
+        transform.rotation = rotation;
+
+        if (target != null)
+			extrapolatedPos = lastPosition = target.position;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs.meta
new file mode 100644
index 00000000..20257ab0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7118f3a432315464297cab517f322eca
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
new file mode 100644
index 00000000..2433ea77
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
@@ -0,0 +1,77 @@
+using UnityEngine;
+using UnityEngine.UI;
+using System.Collections;
+
+[RequireComponent(typeof(Text))]
+public class FPSDisplay : MonoBehaviour
+{
+    public float updateInterval = 0.5f;
+
+    public bool showMedian = false;
+    public float medianLearnrate = 0.05f;
+
+    private float accum = 0; // FPS accumulated over the interval
+    private int frames = 0; // Frames drawn over the interval
+    private float timeleft; // Left time for current interval
+    private float currentFPS = 0;
+
+    private float median = 0;
+    private float average = 0;
+
+    public float CurrentFPS{
+        get { return currentFPS; }
+    }
+
+    public float FPSMedian
+    {
+        get { return median; }
+    }
+
+    public float FPSAverage
+    {
+        get { return average; }
+    }
+
+    Text uguiText;
+
+    void Start()
+    {
+        uguiText = GetComponent<Text>();
+        timeleft = updateInterval;
+    }
+
+    void Update()
+    {
+        // Timing inside the editor is not accurate. Only use in actual build.
+
+        //#if !UNITY_EDITOR
+
+            timeleft -= Time.deltaTime;
+            accum += Time.timeScale/Time.deltaTime;
+            ++frames;
+         
+            // Interval ended - update GUI text and start new interval
+            if( timeleft <= 0.0)
+            {
+                currentFPS = accum / frames;
+
+                average += (Mathf.Abs(currentFPS) - average) * 0.1f;
+                median += Mathf.Sign(currentFPS - median) * Mathf.Min(average * medianLearnrate, Mathf.Abs(currentFPS - median));
+
+                // display two fractional digits (f2 format)
+                float fps = showMedian ? median : currentFPS;
+                uguiText.text = System.String.Format("{0:F2} FPS ({1:F1} ms)", fps, 1000.0f / fps); 
+
+                timeleft = updateInterval;
+                accum = 0.0F;
+                frames = 0;
+            }
+        //#endif
+    }
+
+    public void ResetMedianAndAverage()
+    {
+        median = 0;
+        average = 0;
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta
new file mode 100644
index 00000000..3255db50
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: f14f49b61044e49ebb2f29511f2b3f41
+timeCreated: 1518870953
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
new file mode 100644
index 00000000..fa8ba5cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(Camera))]
+    public class LookAroundCamera : MonoBehaviour
+    {
+        public struct CameraShot
+        {
+            public Vector3 position;
+            public Quaternion rotation;
+            public Vector3 up;
+            public float fieldOfView;
+
+            public CameraShot(Vector3 position, Quaternion rotation, Vector3 up, float fieldOfView)
+            {
+                this.position = position;
+                this.rotation = rotation;
+                this.up = up;
+                this.fieldOfView = fieldOfView;
+            }
+        }
+
+        private Camera cam;
+        private CameraShot currentShot;
+
+        public float movementSpeed = 5;
+        public float rotationSpeed = 8;
+        public float translationResponse = 10;
+        public float rotationResponse = 10;
+        public float fovResponse = 10;
+
+        private void Awake()
+        {
+            cam = GetComponent<Camera>();
+            currentShot = new CameraShot(transform.position, transform.rotation, transform.up, cam.fieldOfView);
+        }
+
+        private void LookAt(Vector3 position, Vector3 up)
+        {
+            currentShot.up = up;
+            currentShot.rotation = Quaternion.LookRotation(position - currentShot.position, currentShot.up);
+        }
+
+        private void UpdateShot()
+        {
+            transform.position = Vector3.Lerp(transform.position, currentShot.position, translationResponse * Time.deltaTime);
+            transform.rotation = Quaternion.Slerp(transform.rotation, currentShot.rotation, rotationResponse * Time.deltaTime);
+            cam.fieldOfView = Mathf.Lerp(cam.fieldOfView, currentShot.fieldOfView, fovResponse * Time.deltaTime);
+        }
+
+        private void LateUpdate()
+        {
+            Vector3 delta = Vector3.zero;
+
+            if (Input.GetKey(KeyCode.W))
+                delta += cam.transform.forward;
+            if (Input.GetKey(KeyCode.A))
+                delta -= cam.transform.right;
+            if (Input.GetKey(KeyCode.S))
+                delta -= cam.transform.forward;
+            if (Input.GetKey(KeyCode.D))
+                delta += cam.transform.right;
+
+            currentShot.position += delta * Time.deltaTime * movementSpeed;
+
+            var system = UnityEngine.EventSystems.EventSystem.current;
+            bool focusUI = system != null && system.IsPointerOverGameObject();
+
+            if (Input.GetKey(KeyCode.Mouse0) && !focusUI)
+            {
+                float deltaX = Input.GetAxis("Mouse X") * rotationSpeed;
+                float deltaY = Input.GetAxis("Mouse Y") * rotationSpeed;
+                Quaternion fwd = currentShot.rotation * Quaternion.AngleAxis(deltaX, Vector3.up) * Quaternion.AngleAxis(deltaY, -Vector3.right);
+                LookAt(currentShot.position + fwd * Vector3.forward, Vector3.up);
+            }
+
+            UpdateShot();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta
new file mode 100644
index 00000000..189500fe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 138d2e060d2cd42f58c60b22bca0159e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
new file mode 100644
index 00000000..7597a980
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
@@ -0,0 +1,39 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class MoveAndRotate : MonoBehaviour
+    {
+        public Vector3andSpace moveUnitsPerSecond;
+        public Vector3andSpace rotateDegreesPerSecond;
+        public bool ignoreTimescale;
+        private float m_LastRealTime;
+
+        private void Start()
+        {
+            m_LastRealTime = Time.realtimeSinceStartup;
+        }
+
+		// Update is called once per frame
+        private void FixedUpdate()
+        {
+            float deltaTime = Time.fixedDeltaTime;
+            if (ignoreTimescale)
+            {
+                deltaTime = (Time.realtimeSinceStartup - m_LastRealTime);
+                m_LastRealTime = Time.realtimeSinceStartup;
+            }
+            transform.Translate(moveUnitsPerSecond.value*deltaTime, moveUnitsPerSecond.space);
+            transform.Rotate(rotateDegreesPerSecond.value*deltaTime, rotateDegreesPerSecond.space);
+        }
+
+
+        [Serializable]
+        public class Vector3andSpace
+        {
+            public Vector3 value;
+            public Space space = Space.Self;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta
new file mode 100644
index 00000000..80e9d582
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
new file mode 100644
index 00000000..d9b6f8d6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ObiActorTeleport : MonoBehaviour
+{
+    public ObiActor actor;
+    public Transform target;
+
+    public void Teleport()
+    {
+        actor.Teleport(target.position, target.rotation);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta
new file mode 100644
index 00000000..69ee1306
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta
@@ -0,0 +1,12 @@
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+guid: ef23dec4d0c424492a85ebca02b625bc
+timeCreated: 1491379841
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
new file mode 100644
index 00000000..76c8bb14
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
@@ -0,0 +1,53 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class ObiParticleCounter : MonoBehaviour {
+
+    ObiSolver solver;
+    public int counter = 0;
+    public Collider2D targetCollider = null;
+
+    ObiNativeContactList frame;
+    HashSet<int> particles = new HashSet<int>();
+
+    void Awake(){
+        solver = GetComponent<Obi.ObiSolver>();
+    }
+
+    void OnEnable () {
+        solver.OnCollision += Solver_OnCollision;
+    }
+
+    void OnDisable(){
+        solver.OnCollision -= Solver_OnCollision;
+    }
+    
+    void Solver_OnCollision (object sender, ObiNativeContactList e)
+    {
+        HashSet<int> currentParticles = new HashSet<int>();
+        
+        for(int i = 0;  i < e.count; ++i)
+        {
+            if (e[i].distance < 0.001f)
+            {
+
+                /*Component collider;
+                if (ObiCollider2D.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
+
+                    if (collider == targetCollider)
+                        currentParticles.Add(e.contacts.Data[i].particle);
+
+                }*/
+            }
+        }
+
+        particles.ExceptWith(currentParticles);
+        counter += particles.Count;
+		particles = currentParticles;Debug.Log(counter);
+    }
+
+}
+
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta
new file mode 100644
index 00000000..399ee1a6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta
@@ -0,0 +1,11 @@
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+guid: b4d7608433fa641c6ad7e1ad3716e0b6
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
new file mode 100644
index 00000000..1ca0319c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+using System.Collections;
+ 
+public class ObjectDragger : MonoBehaviour 
+{
+ 
+	private Vector3 screenPoint;
+	private Vector3 offset;
+	 
+	void OnMouseDown()
+	{
+		screenPoint = Camera.main.WorldToScreenPoint(gameObject.transform.position);
+		offset = gameObject.transform.position - Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z));
+	}
+	
+	void OnMouseDrag()
+	{
+		Vector3 curScreenPoint = new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z);
+		transform.position = Camera.main.ScreenToWorldPoint(curScreenPoint) + offset;
+	}
+
+ 
+ }
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta
new file mode 100644
index 00000000..37e2551c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
new file mode 100644
index 00000000..9bea6154
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
@@ -0,0 +1,22 @@
+using UnityEngine;
+ using System.Collections;
+ 
+ public class ObjectLimit : MonoBehaviour 
+ {
+ 
+	 public float minX = 0;
+	 public float maxX = 1;
+	 public float minY = 0;
+	 public float maxY = 1;
+	 public float minZ = 0;
+	 public float maxZ = 1;
+	 
+	 void Update()
+	 {
+		transform.localPosition = new Vector3(Mathf.Clamp(gameObject.transform.localPosition.x,minX,maxX),
+										 	  Mathf.Clamp(gameObject.transform.localPosition.y,minY,maxY),
+										 	  Mathf.Clamp(gameObject.transform.localPosition.z,minZ,maxZ));
+	 
+	 }
+ 
+ }
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta
new file mode 100644
index 00000000..05e6e67b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
new file mode 100644
index 00000000..2e907216
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
@@ -0,0 +1,10 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SlowmoToggler : MonoBehaviour {
+
+	public void Slowmo (bool slowmo) {
+		Time.timeScale = slowmo?0.25f:1;
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta
new file mode 100644
index 00000000..b29b2a87
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
new file mode 100644
index 00000000..c91f8816
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
@@ -0,0 +1,21 @@
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class WorldSpaceGravity : MonoBehaviour
+{
+
+    ObiSolver solver;
+    public Vector3 worldGravity = new Vector3(0,-9.81f,0);
+
+    void Awake()
+    {
+        solver = GetComponent<ObiSolver>();
+    }
+
+    void Update()
+    {
+        solver.parameters.gravity = transform.InverseTransformDirection(worldGravity);
+        solver.PushSolverParameters();
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta
new file mode 100644
index 00000000..cb0ae7f9
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+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/Common/SampleResources/SparksEmitter.prefab b/xiaofang/Assets/Obi/Samples/Common/SampleResources/SparksEmitter.prefab
new file mode 100644
index 00000000..9ddbf0cf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/Common/SampleResources/SparksEmitter.prefab
@@ -0,0 +1,4965 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/CharacterTentacles.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/CharacterTentacles.unity
new file mode 100644
index 00000000..56d7dc42
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/ComputeRopes.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/ComputeRopes.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/ElectricalWires.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/ElectricalWires.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/Firehose.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/Firehose.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/Plectoneme.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/Plectoneme.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeAndJointsSettings.lighting b/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeAndJointsSettings.lighting
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeGrapplingHook.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeGrapplingHook.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeShowcase.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/RopeShowcase.unity
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+  orientations: []
+  restOrientations: []
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/SpringRod.asset b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/SpringRod.asset
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index 00000000..b96633c7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/SpringRod.asset
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index 00000000..61058023
--- /dev/null
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+f 3676/3300 3677/3346 3505/3297 3506/3299 
+f 3677/3346 3679/3361 3678/3295 3505/3297 
+f 3680/3349 3679/3361 3677/3346 3637/3348 
+f 3680/3349 3629/3352 3598/3360 3679/3361 
+f 3599/3359 3598/3360 3629/3352 3681/3354 
+f 3672/3338 3670/3273 3492/3272 3682/3279 
+f 3626/3328 3674/3329 3683/3331 3684/3317 
+f 3716/3393 3685/3397 3689/3271 3670/3273 
+f 3702/3396 3700/3406 3686/3394 3691/3395 
+f 3716/3393 3688/3398 3685/3397 
+f 3685/3397 3688/3398 3686/3394 3687/3399 
+f 3693/3400 3685/3397 3687/3399 
+f 3718/3401 3691/3395 3686/3394 3688/3398 
+f 3693/3400 3496/3280 3689/3271 3685/3397 
+f 3718/3401 3717/3420 3690/3402 3691/3395 
+f 3693/3400 3497/3285 3692/3284 3496/3280 
+f 3690/3402 3702/3396 3691/3395 
+f 3690/3402 3711/3391 3694/3342 3702/3396 
+f 3705/3403 3695/3286 3497/3285 3693/3400 
+f 3694/3342 3697/3343 3696/3345 3702/3396 
+f 3694/3342 3711/3391 3631/3344 3697/3343 
+f 3698/3341 3699/3308 3696/3345 3697/3343 
+f 3707/3404 3705/3403 3693/3400 3687/3399 
+f 3697/3343 3634/3347 3638/3340 3698/3341 
+f 3707/3404 3687/3399 3686/3394 3700/3405 
+f 3696/3345 3707/3414 3700/3406 3702/3396 
+f 3782/3404 3741/3405 3701/3394 3751/3399 
+f 3729/3409 3723/3426 3734/3407 3703/3408 
+f 3705/3410 3699/3308 3695/3307 
+f 3708/3407 3709/3426 3780/3409 3704/3408 
+f 3705/3410 3707/3414 3696/3345 3699/3308 
+f 3706/3413 3756/3325 3715/3411 3708/3412 
+f 3715/3411 3710/3416 3709/3415 3708/3412 
+f 3690/3402 3722/3389 3630/3390 3711/3391 
+f 3710/3416 3719/3417 3780/3409 3709/3415 
+f 3712/3418 3501/3290 3565/3289 3714/3371 
+f 3713/3419 3710/3416 3712/3418 3714/3371 
+f 3717/3420 3594/3382 3722/3389 3690/3402 
+f 3712/3418 3710/3416 3715/3411 3501/3290 
+f 3718/3401 3688/3398 3716/3393 3717/3420 
+f 3713/3419 3763/3421 3719/3417 3710/3416 
+f 3720/3339 3721/3383 3716/3393 3670/3273 
+f 3763/3421 3768/3422 3780/3409 3719/3417 
+f 3721/3383 3594/3382 3717/3420 3716/3393 
+f 3723/3415 3728/3416 3739/3411 3734/3412 
+f 3724/3423 3704/3408 3780/3409 3768/3422 
+f 3739/3411 3617/3325 3725/3413 3734/3412 
+f 3768/3422 3763/3421 3767/3424 3724/3423 
+f 3767/3424 3727/3292 3726/3425 3724/3423 
+f 3625/3324 3511/3430 3725/3413 3617/3325 
+f 3739/3411 3607/3290 3618/3388 3617/3325 
+f 3726/3425 3727/3292 3535/3293 
+f 3728/3416 3723/3415 3729/3409 3735/3417 
+f 3730/3424 3736/3423 3738/3425 3754/3292 
+f 3738/3425 3502/3293 3754/3292 
+f 3730/3424 3733/3421 3731/3422 3736/3423 
+f 3736/3423 3731/3422 3729/3409 3703/3408 
+f 3733/3421 3735/3417 3729/3409 3731/3422 
+f 3732/3428 3734/3407 3725/3427 3511/3312 
+f 3733/3421 3743/3429 3744/3419 3735/3417 
+f 3732/3428 3703/3408 3734/3407 
+f 3744/3419 3728/3416 3735/3417 
+f 3732/3428 3738/3425 3736/3423 3703/3408 
+f 3744/3419 3613/3371 3749/3418 3728/3416 
+f 3749/3418 3607/3290 3739/3411 3728/3416 
+f 3737/3316 3502/3293 3738/3425 3732/3428 
+f 3732/3428 3511/3312 3510/3313 3737/3316 
+f 3737/3316 3510/3313 3740/3298 3504/3296 
+f 3744/3419 3742/3381 3745/3370 3613/3371 
+f 3751/3399 3752/3397 3750/3400 3782/3404 
+f 3730/3424 3601/3368 3743/3429 3733/3421 
+f 3750/3400 3645/3285 3746/3403 3782/3404 
+f 3779/3286 3781/3431 3746/3403 3645/3285 
+f 3743/3429 3602/3378 3742/3381 3744/3419 
+f 3742/3381 3603/3380 3611/3369 3745/3370 
+f 3750/3400 3747/3280 3748/3284 3645/3285 
+f 3612/3289 3607/3290 3749/3418 3613/3371 
+f 3750/3400 3752/3397 3777/3271 3747/3280 
+f 3743/3429 3601/3368 3602/3378 
+f 3701/3394 3769/3398 3752/3397 3751/3399 
+f 3730/3424 3754/3292 3755/3364 3601/3368 
+f 3706/3413 3776/3432 3753/3324 3756/3325 
+f 3721/3383 3720/3339 3581/3336 3583/3337 
+f 3757/3388 3501/3290 3715/3411 3756/3325 
+f 3762/3381 3759/3370 3563/3369 3669/3380 
+f 3523/3336 3525/3339 3657/3383 3758/3337 
+f 3766/3420 3656/3389 3658/3382 
+f 3759/3370 3762/3381 3713/3419 3714/3371 
+f 3766/3420 3773/3401 3771/3402 3656/3389 
+f 3771/3402 3655/3391 3760/3390 3656/3389 
+f 3761/3429 3763/3421 3713/3419 3762/3381 
+f 3573/3378 3562/3368 3761/3429 3762/3381 
+f 3761/3429 3562/3368 3767/3424 3763/3421 
+f 3765/3393 3657/3383 3525/3339 3764/3273 
+f 3561/3364 3727/3292 3767/3424 3562/3368 
+f 3766/3420 3658/3382 3657/3383 3765/3393 
+f 3765/3393 3769/3398 3773/3401 3766/3420 
+f 3777/3271 3764/3273 3527/3272 3747/3280 
+f 3546/3343 3772/3341 3543/3340 3665/3347 
+f 3544/3342 3654/3344 3655/3391 
+f 3783/3345 3781/3308 3772/3341 3546/3343 
+f 3771/3402 3770/3396 3544/3342 3655/3391 
+f 3770/3396 3741/3406 3783/3345 3544/3342 
+f 3771/3402 3773/3401 3778/3395 3770/3396 
+f 3539/3298 3774/3313 3531/3316 3537/3296 
+f 3773/3401 3769/3398 3701/3394 3778/3395 
+f 3775/3428 3531/3316 3774/3313 3776/3312 
+f 3726/3425 3535/3293 3531/3316 3775/3428 
+f 3775/3428 3704/3408 3724/3423 3726/3425 
+f 3765/3393 3752/3397 3769/3398 
+f 3765/3393 3764/3273 3777/3271 3752/3397 
+f 3706/3427 3708/3407 3775/3428 3776/3312 
+f 3775/3428 3708/3407 3704/3408 
+f 3701/3394 3741/3406 3770/3396 3778/3395 
+f 3783/3345 3782/3414 3746/3410 3781/3308 
+f 3783/3345 3741/3406 3782/3414 
+# 281 polygons - 14 triangles
+
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj.meta
new file mode 100644
index 00000000..d065a02b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj.meta
@@ -0,0 +1,105 @@
+fileFormatVersion: 2
+guid: 92fe50136a7db4cc7bf5dceedcfc586e
+ModelImporter:
+  serializedVersion: 21202
+  internalIDToNameTable: []
+  externalObjects: {}
+  materials:
+    materialImportMode: 2
+    materialName: 0
+    materialSearch: 1
+    materialLocation: 1
+  animations:
+    legacyGenerateAnimations: 4
+    bakeSimulation: 0
+    resampleCurves: 1
+    optimizeGameObjects: 0
+    removeConstantScaleCurves: 1
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+    rigImportErrors: 
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+    animationDoRetargetingWarnings: 0
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+    animationScaleError: 0.5
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+    clipAnimations: []
+    isReadable: 1
+  meshes:
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+    importBlendShapes: 1
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+    nodeNameCollisionStrategy: 1
+    fileIdsGeneration: 2
+    swapUVChannels: 0
+    generateSecondaryUV: 0
+    useFileUnits: 1
+    keepQuads: 0
+    weldVertices: 1
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+    skinWeightsMode: 0
+    maxBonesPerVertex: 4
+    minBoneWeight: 0.001
+    optimizeBones: 1
+    meshOptimizationFlags: -1
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+    secondaryUVAngleDistortion: 8
+    secondaryUVAreaDistortion: 15.000001
+    secondaryUVHardAngle: 88
+    secondaryUVMarginMethod: 1
+    secondaryUVMinLightmapResolution: 40
+    secondaryUVMinObjectScale: 1
+    secondaryUVPackMargin: 4
+    useFileScale: 1
+  tangentSpace:
+    normalSmoothAngle: 60
+    normalImportMode: 0
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+    normalCalculationMode: 4
+    legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 0
+    blendShapeNormalImportMode: 1
+    normalSmoothingSource: 0
+  referencedClips: []
+  importAnimation: 1
+  humanDescription:
+    serializedVersion: 3
+    human: []
+    skeleton: []
+    armTwist: 0.5
+    foreArmTwist: 0.5
+    upperLegTwist: 0.5
+    legTwist: 0.5
+    armStretch: 0.05
+    legStretch: 0.05
+    feetSpacing: 0
+    globalScale: 1
+    rootMotionBoneName: 
+    hasTranslationDoF: 0
+    hasExtraRoot: 0
+    skeletonHasParents: 1
+  lastHumanDescriptionAvatarSource: {instanceID: 0}
+  autoGenerateAvatarMappingIfUnspecified: 1
+  animationType: 2
+  humanoidOversampling: 1
+  avatarSetup: 0
+  addHumanoidExtraRootOnlyWhenUsingAvatar: 1
+  additionalBone: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx
new file mode 100644
index 00000000..69279067
Binary files /dev/null and b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx differ
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx.meta
new file mode 100644
index 00000000..64f5ef49
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/tentacle_guy.fbx.meta
@@ -0,0 +1,609 @@
+fileFormatVersion: 2
+guid: 643a73163dc8d4f0e904d6c0f6857999
+ModelImporter:
+  serializedVersion: 19301
+  internalIDToNameTable: []
+  externalObjects: {}
+  materials:
+    materialImportMode: 0
+    materialName: 0
+    materialSearch: 1
+    materialLocation: 1
+  animations:
+    legacyGenerateAnimations: 4
+    bakeSimulation: 0
+    resampleCurves: 1
+    optimizeGameObjects: 0
+    motionNodeName: 
+    rigImportErrors: 
+    rigImportWarnings: 
+    animationImportErrors: 
+    animationImportWarnings: 
+    animationRetargetingWarnings: 
+    animationDoRetargetingWarnings: 0
+    importAnimatedCustomProperties: 0
+    importConstraints: 0
+    animationCompression: 3
+    animationRotationError: 0.5
+    animationPositionError: 0.5
+    animationScaleError: 0.5
+    animationWrapMode: 0
+    extraExposedTransformPaths: []
+    extraUserProperties: []
+    clipAnimations: []
+    isReadable: 0
+  meshes:
+    lODScreenPercentages: []
+    globalScale: 10
+    meshCompression: 0
+    addColliders: 0
+    useSRGBMaterialColor: 1
+    sortHierarchyByName: 1
+    importVisibility: 1
+    importBlendShapes: 1
+    importCameras: 1
+    importLights: 1
+    fileIdsGeneration: 2
+    swapUVChannels: 0
+    generateSecondaryUV: 0
+    useFileUnits: 1
+    keepQuads: 0
+    weldVertices: 1
+    preserveHierarchy: 0
+    skinWeightsMode: 0
+    maxBonesPerVertex: 4
+    minBoneWeight: 0.001
+    meshOptimizationFlags: -1
+    indexFormat: 0
+    secondaryUVAngleDistortion: 8
+    secondaryUVAreaDistortion: 15.000001
+    secondaryUVHardAngle: 88
+    secondaryUVPackMargin: 4
+    useFileScale: 1
+  tangentSpace:
+    normalSmoothAngle: 60
+    normalImportMode: 0
+    tangentImportMode: 3
+    normalCalculationMode: 4
+    legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 0
+    blendShapeNormalImportMode: 1
+    normalSmoothingSource: 0
+  referencedClips: []
+  importAnimation: 1
+  humanDescription:
+    serializedVersion: 3
+    human:
+    - boneName: joint1
+      humanName: Hips
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint2
+      humanName: LeftUpperLeg
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint20
+      humanName: RightUpperLeg
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint3
+      humanName: LeftLowerLeg
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint21
+      humanName: RightLowerLeg
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint4
+      humanName: LeftFoot
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint22
+      humanName: RightFoot
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint5
+      humanName: Spine
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint6
+      humanName: Chest
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint8
+      humanName: LeftUpperArm
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint63
+      humanName: RightUpperArm
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint9
+      humanName: LeftLowerArm
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint64
+      humanName: RightLowerArm
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint10
+      humanName: LeftHand
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint65
+      humanName: RightHand
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint13
+      humanName: LeftToes
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint23
+      humanName: RightToes
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint7
+      humanName: UpperChest
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    - boneName: joint14
+      humanName: Head
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
+    skeleton:
+    - name: tentacle_guy(Clone)
+      parentName: 
+      position: {x: 0, y: 0, z: 0}
+      rotation: {x: 0, y: 0, z: 0, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: body_basemesh
+      parentName: tentacle_guy(Clone)
+      position: {x: -0, y: 0, z: 0}
+      rotation: {x: 0, y: -0, z: -0, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint1
+      parentName: tentacle_guy(Clone)
+      position: {x: -0, y: 1.3, z: 0}
+      rotation: {x: 0, y: -0, z: -0, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint2
+      parentName: joint1
+      position: {x: -0.13999999, y: 0, z: 0}
+      rotation: {x: 0, y: 0, z: 0.69631565, w: 0.71773577}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint3
+      parentName: joint2
+      position: {x: -0.66030294, y: -9.653175e-16, z: -0.03}
+      rotation: {x: 0.9997244, y: 0.023477284, z: 1.4375691e-18, w: 6.121546e-17}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint4
+      parentName: joint3
+      position: {x: -0.5100958, y: 0.0014997916, z: 0.06}
+      rotation: {x: 0.7011903, y: 0.7129742, z: 8.65926e-17, w: -7.2155487e-19}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint13
+      parentName: joint4
+      position: {x: -0.03, y: -0.104848675, z: 0.24}
+      rotation: {x: 0, y: -0, z: -0, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint5
+      parentName: joint1
+      position: {x: -0, y: 0.25999996, z: 0}
+      rotation: {x: 0.461427, y: -0.53580326, z: -0.461427, w: 0.53580326}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint6
+      parentName: joint5
+      position: {x: -0.20223747, y: 7.2164494e-17, z: -4.490574e-17}
+      rotation: {x: -0.7051483, y: 0.052591935, z: -0.052591935, w: 0.7051483}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint7
+      parentName: joint6
+      position: {x: -0.36999997, y: -2.1944667e-14, z: -0.08999999}
+      rotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint8
+      parentName: joint7
+      position: {x: -0.24, y: -0.12999998, z: 0.049999997}
+      rotation: {x: 0.000000005268355, y: 0.000000047415195, z: 0.030666016, w: 0.9995297}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint9
+      parentName: joint8
+      position: {x: -0.38948682, y: -4.1524551e-16, z: 1.11022296e-17}
+      rotation: {x: 0.0030285313, y: -0.12718104, z: -0.042866673, w: 0.99094814}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint10
+      parentName: joint9
+      position: {x: -0.3605551, y: 1.7694057e-15, z: 0.12}
+      rotation: {x: 0, y: -0, z: -0.008770918, w: 0.99996156}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint11
+      parentName: joint10
+      position: {x: -0.09154348, y: 0.019814016, z: 0.029994646}
+      rotation: {x: 0.042868063, y: 0.15011244, z: -0.04303352, w: 0.98680127}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint55
+      parentName: joint11
+      position: {x: -0.07399605, y: -2.3793767e-16, z: 6.106226e-17}
+      rotation: {x: 2.4673294e-32, y: -0.041632812, z: 3.11171e-15, w: 0.999133}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint56
+      parentName: joint55
+      position: {x: -0.07600566, y: -3.5527135e-16, z: 7.494005e-17}
+      rotation: {x: 1.2037062e-35, y: 0.000091424394, z: 1.846548e-15, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint57
+      parentName: joint56
+      position: {x: -0.09619879, y: -3.5527135e-16, z: 1.4177547e-14}
+      rotation: {x: 0, y: -0.114946574, z: -0, w: 0.99337167}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint12
+      parentName: joint10
+      position: {x: -0.02598065, y: 0.002883614, z: 0.12321674}
+      rotation: {x: 0.11304527, y: 0.69661635, z: -0.1134862, w: 0.6993335}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint58
+      parentName: joint12
+      position: {x: -0.089162126, y: -2.6873932e-17, z: -7.0950186e-17}
+      rotation: {x: 4.0062108e-32, y: -0.011748499, z: 4.0486117e-15, w: 0.999931}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint59
+      parentName: joint58
+      position: {x: -0.084438324, y: -3.5527135e-16, z: -7.6327826e-17}
+      rotation: {x: -0, y: 0.035413247, z: 2.4711546e-31, w: 0.9993728}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint60
+      parentName: joint59
+      position: {x: -0.07985701, y: 3.5527135e-16, z: 5.481726e-17}
+      rotation: {x: 0, y: -0.021723738, z: -0, w: 0.999764}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint61
+      parentName: joint60
+      position: {x: -0.07746912, y: 3.6404822e-32, z: 1.3682925e-17}
+      rotation: {x: -9.244807e-33, y: -0.0086197285, z: 2.6484999e-15, w: 0.99996287}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint62
+      parentName: joint61
+      position: {x: -0.06707279, y: -3.5527135e-16, z: -2.6732087e-16}
+      rotation: {x: 0, y: -0.70098543, z: -0, w: 0.7131756}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint14
+      parentName: joint7
+      position: {x: 2.1745936e-14, y: 0.10756256, z: 0.05387839}
+      rotation: {x: -0.010158825, y: 0.7070338, z: -0.010158825, w: 0.7070338}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint36
+      parentName: joint14
+      position: {x: -0.12709719, y: 1.8735012e-17, z: -4.3096858e-17}
+      rotation: {x: 0.0084946025, y: -0.59120727, z: 0.011586421, w: 0.8063917}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint37
+      parentName: joint36
+      position: {x: -0.103054576, y: 6.805027e-17, z: -1.6653344e-17}
+      rotation: {x: 0.015911022, y: 0.10465568, z: 0.14946043, w: 0.9830848}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint38
+      parentName: joint37
+      position: {x: -0.09580189, y: -2.698401e-32, z: 4.9960035e-17}
+      rotation: {x: 0, y: 0.018015133, z: 2.3763304e-15, w: 0.99983776}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint39
+      parentName: joint38
+      position: {x: -0.07476424, y: 2.2383038e-32, z: 1.3877786e-16}
+      rotation: {x: 0, y: -0.020644465, z: 2.7901835e-15, w: 0.9997869}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint40
+      parentName: joint39
+      position: {x: -0.063678086, y: -1.1047273e-32, z: -4.9960035e-17}
+      rotation: {x: 0, y: -0.25340134, z: -0, w: 0.9673612}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint41
+      parentName: joint36
+      position: {x: -0.079592906, y: -0.031094465, z: 0.08634962}
+      rotation: {x: 0.058944978, y: 0.38568294, z: 0.13910499, w: 0.910178}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint42
+      parentName: joint41
+      position: {x: -0.09347624, y: 3.5527135e-16, z: -1.11022296e-17}
+      rotation: {x: 6.163813e-33, y: 0.016476804, z: -5.6360446e-15, w: 0.9998643}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint43
+      parentName: joint42
+      position: {x: -0.09456621, y: 3.5527135e-16, z: 4.052314e-16}
+      rotation: {x: 0, y: -0.010380103, z: 4.6311506e-31, w: 0.9999461}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint44
+      parentName: joint43
+      position: {x: -0.08517358, y: -3.5527135e-16, z: -3.38618e-16}
+      rotation: {x: -6.163644e-33, y: -0.014716563, z: -2.9486684e-15, w: 0.9998917}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint45
+      parentName: joint44
+      position: {x: -0.0602492, y: -3.5527135e-16, z: -1.6653344e-17}
+      rotation: {x: 0, y: -0.38221022, z: -0, w: 0.9240754}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint46
+      parentName: joint36
+      position: {x: 0.08440523, y: -0.0000041314647, z: 0.059126962}
+      rotation: {x: 0.90607345, y: -0.13775223, z: 0.39552408, w: -0.06013235}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint47
+      parentName: joint46
+      position: {x: 0.095801786, y: -0.0000018860757, z: 0.000000035000777}
+      rotation: {x: 0.000000007449372, y: 0.018015133, z: -1.342239e-10, w: 0.99983776}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint48
+      parentName: joint47
+      position: {x: 0.074762255, y: -0.000004752052, z: -0.00000015192765}
+      rotation: {x: -1.5410725e-33, y: -0.020644465, z: -6.7321623e-16, w: 0.9997869}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint49
+      parentName: joint48
+      position: {x: 0.06367956, y: 0.000005259358, z: 0.00000011133796}
+      rotation: {x: 0.0000000072074027, y: -0.25340134, z: 0.000000001887986, w: 0.9673612}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint50
+      parentName: joint36
+      position: {x: 0.015646856, y: -0.031094128, z: 0.116388924}
+      rotation: {x: 0.7520093, y: -0.114931636, z: 0.64160526, w: -0.09805829}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint51
+      parentName: joint50
+      position: {x: 0.093476094, y: -0.00000027094217, z: 1.1657341e-16}
+      rotation: {x: 0.000000014899139, y: 0.016476804, z: -2.4552385e-10, w: 0.9998643}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint52
+      parentName: joint51
+      position: {x: 0.094566934, y: -0.00000077767515, z: -0.00000019630028}
+      rotation: {x: 0.000000018249137, y: -0.010380103, z: 4.9878895e-10, w: 0.9999461}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint53
+      parentName: joint52
+      position: {x: 0.0851739, y: 0.0000014720804, z: -0.0000002482385}
+      rotation: {x: 0.0000000333164, y: -0.014716563, z: 0.0000000017751464, w: 0.9998917}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint54
+      parentName: joint53
+      position: {x: 0.06024818, y: -0.000002909202, z: 0.0000007170761}
+      rotation: {x: 0.000000060805775, y: -0.38221022, z: 0.00000007690883, w: 0.9240754}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint63
+      parentName: joint7
+      position: {x: 0.24, y: -0.12999998, z: 0.049999997}
+      rotation: {x: 0.9995297, y: -0.030665986, z: -0.000000027658864, w: -0.000000056634818}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint64
+      parentName: joint63
+      position: {x: 0.38948682, y: -7.105427e-16, z: 0}
+      rotation: {x: 0.0030285215, y: -0.12718093, z: -0.042866964, w: 0.99094814}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint65
+      parentName: joint64
+      position: {x: 0.3605551, y: 3.5527135e-16, z: -0.12}
+      rotation: {x: -6.018763e-36, y: -1.023699e-17, z: -0.008770918, w: 0.99996156}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint66
+      parentName: joint65
+      position: {x: 0.0915416, y: -0.019814832, z: -0.0299946}
+      rotation: {x: 0.042868063, y: 0.15011244, z: -0.04303352, w: 0.98680127}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint67
+      parentName: joint66
+      position: {x: 0.07399491, y: 0.00000049746126, z: -0.00000055409134}
+      rotation: {x: -1.34932085e-33, y: -0.041632812, z: -5.729555e-17, w: 0.999133}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint68
+      parentName: joint67
+      position: {x: 0.07600958, y: 0.000003547689, z: 0.0000006672846}
+      rotation: {x: 0.000000010536712, y: 0.000091424394, z: -9.633645e-13, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint69
+      parentName: joint68
+      position: {x: 0.09619899, y: -0.000003590403, z: 0.000000386133}
+      rotation: {x: 0.0000000074011957, y: -0.114946574, z: 8.5641866e-10, w: 0.99337167}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint70
+      parentName: joint65
+      position: {x: 0.025980322, y: -0.0028836806, z: -0.123216994}
+      rotation: {x: 0.11304527, y: 0.69661635, z: -0.1134862, w: 0.6993335}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint71
+      parentName: joint70
+      position: {x: 0.08916167, y: 3.5527135e-16, z: -0.00000009384617}
+      rotation: {x: 3.0817006e-33, y: -0.011748499, z: 6.011787e-16, w: 0.999931}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint72
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+      rotation: {x: 1.8500533e-32, y: 0.035413247, z: -1.0704252e-15, w: 0.9993728}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint73
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+      position: {x: 0.07985737, y: 3.5527135e-16, z: -0.00000021718611}
+      rotation: {x: -2.8895768e-34, y: -0.021723738, z: -4.501632e-17, w: 0.999764}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint74
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+      position: {x: 0.07746899, y: -3.5527135e-16, z: 1.7763567e-16}
+      rotation: {x: 0.000000007450304, y: -0.0086197285, z: 6.422235e-11, w: 0.99996287}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint75
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+      scale: {x: 1, y: 1, z: 1}
+    - name: joint24
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+      scale: {x: 1, y: 1, z: 1}
+    - name: joint25
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+      scale: {x: 1, y: 1, z: 1}
+    - name: joint26
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+      rotation: {x: 2.3133648e-33, y: 1.6669616e-16, z: -0.044083342, w: 0.99902785}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint27
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+      rotation: {x: 3.009266e-36, y: 1.6660854e-16, z: 0.000248973, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint28
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+      position: {x: -0.1380393, y: -3.5256517e-14, z: 4.5997046e-17}
+      rotation: {x: -3.852802e-34, y: 1.7309154e-16, z: 0.022107998, w: 0.9997556}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint29
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+      position: {x: -0.11609105, y: -2.9906632e-16, z: 4.0178935e-17}
+      rotation: {x: 3.8526864e-34, y: 1.788129e-16, z: 0.020704908, w: 0.99978566}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint30
+      parentName: joint29
+      position: {x: -0.095484726, y: -2.9178048e-16, z: 3.414048e-17}
+      rotation: {x: 1.9264165e-33, y: 1.7259104e-16, z: -0.022469074, w: 0.9997476}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint31
+      parentName: joint30
+      position: {x: -0.09765373, y: -2.2308542e-16, z: 3.3699805e-17}
+      rotation: {x: 7.706731e-34, y: 1.803109e-16, z: 0.027953194, w: 0.99960923}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint32
+      parentName: joint31
+      position: {x: -0.09659968, y: -3.247402e-16, z: 3.482234e-17}
+      rotation: {x: -9.629728e-35, y: 1.7916718e-16, z: -0.0040298384, w: 0.9999919}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint33
+      parentName: joint32
+      position: {x: -0.08464015, y: 5.2458037e-16, z: 3.032923e-17}
+      rotation: {x: 9.629959e-35, y: 1.8129451e-16, z: 0.0080035, w: 0.999968}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint34
+      parentName: joint33
+      position: {x: -0.07817147, y: -4.5033417e-16, z: 2.8343208e-17}
+      rotation: {x: -3.854454e-34, y: 1.7129895e-16, z: -0.036680747, w: 0.99932706}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint35
+      parentName: joint34
+      position: {x: -0.06837516, y: -1.3392065e-16, z: 2.3409425e-17}
+      rotation: {x: -0.50787055, y: 0.49200353, z: -0.49200353, w: 0.50787055}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint20
+      parentName: joint1
+      position: {x: 0.13999999, y: 0, z: 0}
+      rotation: {x: 0.71773577, y: -0.69631565, z: 4.2637038e-17, w: -4.3948642e-17}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint21
+      parentName: joint20
+      position: {x: 0.66030294, y: 8.8817837e-17, z: 0.03}
+      rotation: {x: 0.9997244, y: 0.023477284, z: -1.4375691e-18, w: -6.121546e-17}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint22
+      parentName: joint21
+      position: {x: 0.5100958, y: -0.0014997916, z: -0.06}
+      rotation: {x: 0.7011903, y: 0.7129742, z: -6.910292e-17, w: 1.5759052e-16}
+      scale: {x: 1, y: 1, z: 1}
+    - name: joint23
+      parentName: joint22
+      position: {x: 0.03, y: 0.10484869, z: -0.24}
+      rotation: {x: 0, y: -0, z: -0, w: 1}
+      scale: {x: 1, y: 1, z: 1}
+    armTwist: 0.5
+    foreArmTwist: 0.5
+    upperLegTwist: 0.5
+    legTwist: 0.5
+    armStretch: 0.05
+    legStretch: 0.05
+    feetSpacing: 0
+    globalScale: 10
+    rootMotionBoneName: 
+    hasTranslationDoF: 0
+    hasExtraRoot: 1
+    skeletonHasParents: 1
+  lastHumanDescriptionAvatarSource: {instanceID: 0}
+  autoGenerateAvatarMappingIfUnspecified: 1
+  animationType: 3
+  humanoidOversampling: 1
+  avatarSetup: 1
+  additionalBone: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs.meta
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset
new file mode 100644
index 00000000..9dea6b17
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset.meta
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset
new file mode 100644
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab.meta
new file mode 100644
index 00000000..e4fe13d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 88eb4cec0c7324e51bf5e7e1342370e3
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts.meta
new file mode 100644
index 00000000..0d3d741b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3bfafe4a7962d422083d44fc9934852e
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
new file mode 100644
index 00000000..4d73f3a5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
@@ -0,0 +1,33 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CharacterControl2D : MonoBehaviour {
+
+	public float acceleration = 10;
+	public float maxSpeed = 8;
+	public float jumpPower = 2;
+    public float floorRaycastDistance= 1.2f;
+
+	private Rigidbody unityRigidbody;
+	
+	public void Awake(){
+		unityRigidbody = GetComponent<Rigidbody>();
+	}
+
+    private void Update()
+    {
+        unityRigidbody.AddForce(new Vector3(Input.GetAxis("Horizontal") * acceleration, 0, 0));
+
+        bool grounded = Physics.Raycast(new Ray(transform.position, -Vector3.up), floorRaycastDistance);
+
+        if (Input.GetButtonDown("Jump") && grounded)
+        {
+            unityRigidbody.AddForce(Vector3.up * jumpPower, ForceMode.VelocityChange);
+        }
+    }
+
+    void FixedUpdate () {
+		unityRigidbody.velocity = Vector3.ClampMagnitude(unityRigidbody.velocity,maxSpeed);
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta
new file mode 100644
index 00000000..e5c889d7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 82b0f164ac14247fd8a566109fbbe771
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
new file mode 100644
index 00000000..4e305746
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
@@ -0,0 +1,37 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class CraneController : MonoBehaviour {
+
+	ObiRopeCursor cursor;
+	ObiRope rope;
+    public float speed = 1;
+
+	// Use this for initialization
+	void Start () {
+		cursor = GetComponentInChildren<ObiRopeCursor>();
+		rope = cursor.GetComponent<ObiRope>();
+	}
+	
+	// Update is called once per frame
+	void Update () {
+		if (Input.GetKey(KeyCode.W)){
+			if (rope.restLength > 6.5f)
+				cursor.ChangeLength(-speed * Time.deltaTime);
+		}
+
+		if (Input.GetKey(KeyCode.S)){
+			cursor.ChangeLength(speed * Time.deltaTime);
+		}
+
+		if (Input.GetKey(KeyCode.A)){
+			transform.Rotate(0,Time.deltaTime*15f,0);
+		}
+
+		if (Input.GetKey(KeyCode.D)){
+			transform.Rotate(0,-Time.deltaTime*15f,0);
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta
new file mode 100644
index 00000000..32e4eeb6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 5551d37f45fd044ff8768019501c20a5
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
new file mode 100644
index 00000000..8c10c8e7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
@@ -0,0 +1,49 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+public class CursorController : MonoBehaviour
+{
+	public float minLength = 0.1f;
+    public float speed = 1;
+
+    private ObiRopeCursor cursor;
+    private ObiRope rope;
+
+	void OnEnable ()
+    {
+        rope = GetComponent<ObiRope>();
+        cursor = GetComponent<ObiRopeCursor>();
+    }
+
+    void Update ()
+    {
+        float change = 0;
+
+		if (Input.GetKey(KeyCode.W) && cursor != null)
+        {
+            change -= speed * Time.deltaTime;
+		}
+
+		if (Input.GetKey(KeyCode.S) && cursor != null)
+        {
+            change += speed * Time.deltaTime;
+		}
+
+        if (rope.restLength + change < minLength)
+            change = minLength - rope.restLength;
+
+        cursor.ChangeLength(change); 
+
+        if (Input.GetKey(KeyCode.A)){
+			rope.transform.Translate(Vector3.left * Time.deltaTime,Space.World);
+		}
+
+		if (Input.GetKey(KeyCode.D)){
+			rope.transform.Translate(Vector3.right * Time.deltaTime,Space.World);
+		}
+
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs.meta
new file mode 100644
index 00000000..1ac89661
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 83c7e82b3aac04e408bc8bfe9027c983
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
new file mode 100644
index 00000000..dc44543a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
@@ -0,0 +1,223 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+/**
+ * Sample component that shows how to use Obi Rope to create a grappling hook for a 2.5D game.
+ * 95% of the code is the grappling hook logic (user input, scene raycasting, launching, attaching the hook, etc) and parameter setup,
+ * to show how to use Obi completely at runtime. This might not be practical for real-world scenarios,
+ * but illustrates how to do it.
+ *
+ * Note that the choice of using actual rope simulation for grapple dynamics is debatable. Usually
+ * a simple spring works better both in terms of performance and controllability. 
+ *
+ * If complex interaction is required with the scene, a purely geometry-based approach (ala Worms ninja rope) can
+ * be the right choice under certain circumstances.
+ */
+public class ExtendableGrapplingHook : MonoBehaviour
+{
+
+    public ObiSolver solver;
+    public ObiCollider character;
+
+    public Material material;
+    public ObiRopeSection section;
+
+    [Range(0, 1)]
+    public float hookResolution = 0.5f;
+    public float hookExtendRetractSpeed = 2;
+    public float hookShootSpeed = 30;
+    public int particlePoolSize = 100;
+
+    private ObiRope rope;
+    private ObiRopeBlueprint blueprint;
+    private ObiRopeExtrudedRenderer ropeRenderer;
+
+    private ObiRopeCursor cursor;
+
+    private RaycastHit hookAttachment;
+
+    void Awake()
+    {
+
+        // Create both the rope and the solver:	
+        rope = gameObject.AddComponent<ObiRope>();
+        ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+        ropeRenderer.section = section;
+        ropeRenderer.uvScale = new Vector2(1, 4);
+        ropeRenderer.normalizeV = false;
+        ropeRenderer.uvAnchor = 1;
+        ropeRenderer.material = material;
+
+        // Setup a blueprint for the rope:
+        blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+        blueprint.resolution = 0.5f;
+        blueprint.pooledParticles = particlePoolSize;
+
+        // Tweak rope parameters:
+        rope.maxBending = 0.02f;
+
+        // Add a cursor to be able to change rope length:
+        cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
+        cursor.cursorMu = 0;
+        cursor.direction = true;
+    }
+
+    private void OnDestroy()
+    {
+        DestroyImmediate(blueprint);
+    }
+
+    /**
+	 * Raycast against the scene to see if we can attach the hook to something.
+	 */
+    private void LaunchHook()
+    {
+
+        // Get the mouse position in the scene, in the same XY plane as this object:
+        Vector3 mouse = Input.mousePosition;
+        mouse.z = transform.position.z - Camera.main.transform.position.z;
+        Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
+
+        // Get a ray from the character to the mouse:
+        Ray ray = new Ray(transform.position, mouseInScene - transform.position);
+
+        // Raycast to see what we hit:
+        if (Physics.Raycast(ray, out hookAttachment))
+        {
+            // We actually hit something, so attach the hook!
+            StartCoroutine(AttachHook());
+        }
+
+    }
+
+    private void LayParticlesInStraightLine(Vector3 origin, Vector3 direction)
+    {
+        // placing all particles in a straight line, respecting rope length
+        float length = 0;
+        for (int i = 0; i < rope.elements.Count; ++i)
+        {
+            int p1 = rope.elements[i].particle1;
+            int p2 = rope.elements[i].particle2;
+
+            solver.prevPositions[p1] = solver.positions[p1] = origin + direction * length;
+            length += rope.elements[i].restLength;
+            solver.prevPositions[p2] = solver.positions[p2] = origin + direction * length;
+        }
+    }
+
+    private IEnumerator AttachHook()
+    {
+        yield return null;
+
+        // Clear pin constraints:
+        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
+        pinConstraints.Clear();
+
+        Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
+
+        // Procedurally generate the rope path (just a short segment, as we will extend it over time):
+        int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+        blueprint.path.Clear();
+        blueprint.path.AddControlPoint(Vector3.zero, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
+        blueprint.path.AddControlPoint(localHit.normalized * 0.5f, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
+        blueprint.path.FlushEvents();
+
+        // Generate the particle representation of the rope (wait until it has finished):
+        yield return blueprint.Generate();
+        
+        // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
+        rope.ropeBlueprint = blueprint;
+        rope.GetComponent<ObiRopeExtrudedRenderer>().enabled = true;
+
+        // wait for the solver to load the rope, after the next physics step:
+        yield return new WaitForFixedUpdate();
+        yield return null;
+
+        // set masses to zero, as we're going to override positions while we extend the rope:
+        for (int i = 0; i < rope.activeParticleCount; ++i)
+            solver.invMasses[rope.solverIndices[i]] = 0;
+
+        // while the last particle hasn't reached the hit, extend the rope:
+        Vector3 origin;
+        Vector3 direction;
+
+        while (true)
+        {
+            // calculate rope origin in solver space:
+            origin = solver.transform.InverseTransformPoint(rope.transform.position);
+
+            // update direction and distance to hook point:
+            direction = hookAttachment.point - origin;
+            float distance = direction.magnitude;
+            direction.Normalize();
+
+            LayParticlesInStraightLine(origin, direction);
+
+            // increase length:
+            float distanceLeft = distance - cursor.ChangeLength(hookShootSpeed * Time.deltaTime);
+
+            // if we have exceeded the desired length, correct it and break the loop:
+            if (distanceLeft < 0)
+            {
+                cursor.ChangeLength(distanceLeft);
+                break;
+            }
+
+            // wait for next frame:
+            yield return null;
+        }
+
+        // wait for the last length change to take effect, and ensure the rope is straight:
+        yield return new WaitForFixedUpdate();
+        yield return null;
+        LayParticlesInStraightLine(origin, direction);
+
+        // restore masses so that the simulation takes over now that the rope is in place:
+        for (int i = 0; i < rope.activeParticleCount; ++i)
+            solver.invMasses[rope.solverIndices[i]] = 10; // 1/0.1 = 10
+
+        // Pin both ends of the rope (this enables two-way interaction between character and rope):
+        var batch = new ObiPinConstraintsBatch();
+        batch.AddConstraint(rope.elements[0].particle1, character, transform.localPosition, Quaternion.identity, 0, 0, float.PositiveInfinity);
+        batch.AddConstraint(rope.elements[rope.elements.Count-1].particle2, hookAttachment.collider.GetComponent<ObiColliderBase>(),
+                                                          hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0, float.PositiveInfinity);
+        batch.activeConstraintCount = 2;
+        pinConstraints.AddBatch(batch);
+
+        rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
+    }
+
+    private void DetachHook()
+    {
+        // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
+        rope.ropeBlueprint = null;
+        rope.GetComponent<ObiRopeExtrudedRenderer>().enabled = false;
+    }
+
+
+    void Update()
+    {
+
+        if (Input.GetMouseButtonDown(0))
+        {
+            if (!rope.isLoaded)
+                LaunchHook();
+            else
+                DetachHook();
+        }
+
+        if (rope.isLoaded)
+        {
+            if (Input.GetKey(KeyCode.W))
+            {
+                cursor.ChangeLength(- hookExtendRetractSpeed * Time.deltaTime);
+            }
+            if (Input.GetKey(KeyCode.S))
+            {
+                cursor.ChangeLength(hookExtendRetractSpeed * Time.deltaTime);
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta
new file mode 100644
index 00000000..3347fd18
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: b77478c97cefb4dec9cc85236f7c5fca
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
new file mode 100644
index 00000000..0587a463
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
@@ -0,0 +1,152 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+/**
+ * Sample component that shows how to use Obi Rope to create a grappling hook for a 2.5D game.
+ * 95% of the code is the grappling hook logic (user input, scene raycasting, launching, attaching the hook, etc) and parameter setup,
+ * to show how to use Obi completely at runtime. This might not be practical for real-world scenarios,
+ * but illustrates how to do it.
+ *
+ * Note that the choice of using actual rope simulation for grapple dynamics is debatable. Usually
+ * a simple spring works better both in terms of performance and controllability. 
+ *
+ * If complex interaction is required with the scene, a purely geometry-based approach (ala Worms ninja rope) can
+ * be the right choice under certain circumstances.
+ */
+public class GrapplingHook : MonoBehaviour
+{
+
+    public ObiSolver solver;
+    public ObiCollider character;
+    public float hookExtendRetractSpeed = 2;
+    public Material material;
+    public ObiRopeSection section;
+
+    private ObiRope rope;
+    private ObiRopeBlueprint blueprint;
+    private ObiRopeExtrudedRenderer ropeRenderer;
+
+    private ObiRopeCursor cursor;
+
+    private RaycastHit hookAttachment;
+
+    void Awake()
+    {
+
+        // Create both the rope and the solver:	
+        rope = gameObject.AddComponent<ObiRope>();
+        ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+        ropeRenderer.section = section;
+        ropeRenderer.uvScale = new Vector2(1, 4);
+        ropeRenderer.normalizeV = false;
+        ropeRenderer.uvAnchor = 1;
+        rope.GetComponent<MeshRenderer>().material = material;
+
+        // Setup a blueprint for the rope:
+        blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+        blueprint.resolution = 0.5f;
+
+        // Tweak rope parameters:
+        rope.maxBending = 0.02f;
+
+        // Add a cursor to be able to change rope length:
+        cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
+        cursor.cursorMu = 0;
+        cursor.direction = true;
+    }
+
+    private void OnDestroy()
+    {
+        DestroyImmediate(blueprint);
+    }
+
+    /**
+	 * Raycast against the scene to see if we can attach the hook to something.
+	 */
+    private void LaunchHook()
+    {
+
+        // Get the mouse position in the scene, in the same XY plane as this object:
+        Vector3 mouse = Input.mousePosition;
+        mouse.z = transform.position.z - Camera.main.transform.position.z;
+        Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
+
+        // Get a ray from the character to the mouse:
+        Ray ray = new Ray(transform.position, mouseInScene - transform.position);
+
+        // Raycast to see what we hit:
+        if (Physics.Raycast(ray, out hookAttachment))
+        {
+            // We actually hit something, so attach the hook!
+            StartCoroutine(AttachHook());
+        }
+
+    }
+
+    private IEnumerator AttachHook()
+    {
+        yield return 0;
+        Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
+
+        int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything,0);
+
+        // Procedurally generate the rope path (a simple straight line):
+        blueprint.path.Clear();
+        blueprint.path.AddControlPoint(Vector3.zero, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
+        blueprint.path.AddControlPoint(localHit, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
+        blueprint.path.FlushEvents();
+
+        // Generate the particle representation of the rope (wait until it has finished):
+        yield return blueprint.Generate();
+        
+        // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
+        rope.ropeBlueprint = blueprint;
+        rope.GetComponent<MeshRenderer>().enabled = true;
+
+        // Pin both ends of the rope (this enables two-way interaction between character and rope):
+        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
+        pinConstraints.Clear();
+        var batch = new ObiPinConstraintsBatch();
+        batch.AddConstraint(rope.solverIndices[0], character, transform.localPosition, Quaternion.identity, 0, 0, float.PositiveInfinity);
+        batch.AddConstraint(rope.solverIndices[blueprint.activeParticleCount - 1], hookAttachment.collider.GetComponent<ObiColliderBase>(),
+                                                          hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0, float.PositiveInfinity);
+        batch.activeConstraintCount = 2;
+        pinConstraints.AddBatch(batch);
+
+        rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
+    }
+
+    private void DetachHook()
+    {
+        // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
+        rope.ropeBlueprint = null;
+        rope.GetComponent<MeshRenderer>().enabled = false;
+    }
+
+
+    void Update()
+    {
+
+        if (Input.GetMouseButtonDown(0))
+        {
+            if (!rope.isLoaded)
+                LaunchHook();
+            else
+                DetachHook();
+        }
+
+        if (rope.isLoaded)
+        {
+            if (Input.GetKey(KeyCode.W))
+            {
+                cursor.ChangeLength(rope.restLength - hookExtendRetractSpeed * Time.deltaTime);
+            }
+            if (Input.GetKey(KeyCode.S))
+            {
+                cursor.ChangeLength(rope.restLength + hookExtendRetractSpeed * Time.deltaTime);
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta
new file mode 100644
index 00000000..f34f6918
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 94f9aa141b5964f9f91dadcc1919618c
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
new file mode 100644
index 00000000..fb885e7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
@@ -0,0 +1,83 @@
+using UnityEngine;
+using Obi;
+
+
+[RequireComponent(typeof(ObiRope))]
+public class HosePump : MonoBehaviour {
+
+    [Header("Bulge controls")]
+    public float pumpSpeed = 5;
+    public float bulgeFrequency = 3;
+    public float baseThickness = 0.04f;
+    public float bulgeThickness = 0.06f;
+    public Color bulgeColor = Color.cyan;
+
+    [Header("Flow controls")]
+    public ParticleSystem waterEmitter;
+    public float flowSpeedMin = 0.5f;
+    public float flowSpeedMax = 7;
+    public float minEmitRate = 100;
+    public float maxEmitRate = 1000;
+
+    private ObiRope rope;
+    public ObiPathSmoother smoother;
+    private float time = 0;
+
+    void OnEnable()
+    {
+        rope = GetComponent<ObiRope>();
+        smoother = GetComponent<ObiPathSmoother>();
+        rope.OnSimulationStart += Rope_OnBeginStep;
+    }
+    void OnDisable()
+    {
+        rope.OnSimulationStart -= Rope_OnBeginStep;
+    }
+
+    private void Rope_OnBeginStep(ObiActor actor, float stepTime, float substepTime)
+    {
+        time += stepTime * pumpSpeed;
+
+        float distance = 0;
+        float sine = 0;
+
+        // iterate over all particles, changing their radius and color based on a sine wave:
+        // (note this would not support resizable / cuttable ropes, to add support for that use rope.elements instead)
+        for (int i = 0; i < rope.solverIndices.count; ++i)
+        {
+            int solverIndex = rope.solverIndices[i];
+
+            if (i > 0)
+            {
+                int previousIndex = rope.solverIndices[i - 1];
+                distance += Vector3.Distance(rope.solver.positions[solverIndex],rope.solver.positions[previousIndex]);
+            }
+
+            sine = Mathf.Max(0, Mathf.Sin(distance * bulgeFrequency - time));
+
+            rope.solver.principalRadii[solverIndex] = Vector3.one * Mathf.Lerp(baseThickness,bulgeThickness, sine);
+            rope.solver.colors[solverIndex] = Color.Lerp(Color.white, bulgeColor, sine);
+        }
+
+        // change particle emission rate/speed based on sine wave at the last particle:
+        if (waterEmitter != null)
+        {
+            var main = waterEmitter.main;
+            main.startSpeed = Mathf.Lerp(flowSpeedMin,flowSpeedMax,sine);
+
+            var emission = waterEmitter.emission;
+            emission.rateOverTime = Mathf.Lerp(minEmitRate, maxEmitRate, sine);
+        }
+    }
+
+    public void LateUpdate() 
+    {
+        if (smoother != null && waterEmitter != null)
+        {
+            ObiPathFrame section = smoother.GetSectionAt(1);
+            waterEmitter.transform.position = rope.solver.transform.TransformPoint(section.position);
+            waterEmitter.transform.rotation = rope.solver.transform.rotation * (Quaternion.LookRotation(section.tangent, section.binormal));
+        }
+    }
+}   
+
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs.meta
new file mode 100644
index 00000000..0cbb3fc8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs.meta
@@ -0,0 +1,12 @@
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+guid: d71cdcf242c9b44fb874af7b7d8fd2b9
+timeCreated: 1518879675
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
new file mode 100644
index 00000000..0d798c4b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
@@ -0,0 +1,69 @@
+using UnityEngine;
+using Obi;
+
+public class RopeBetweenTwoPoints : MonoBehaviour
+{
+    public Transform start;
+    public Transform end;
+    public ObiSolver solver;
+
+    public bool fixedParticleCount = true;
+    public int numParticles = 5;
+
+    void Start()
+    {
+        // Generate rope synchronously:
+        Generate();
+    }
+
+    void Generate()
+    {
+        if (start != null && end != null)
+        {
+            // Adjust our transform:
+            transform.position = (start.position + end.position) / 2;
+            transform.rotation = Quaternion.FromToRotation(Vector3.right, end.position - start.position);
+
+            // Calculate control point positions and tangent vector:
+            Vector3 startPositionLS = transform.InverseTransformPoint(start.position);
+            Vector3 endPositionLS = transform.InverseTransformPoint(end.position);
+            Vector3 tangentLS = (endPositionLS - startPositionLS).normalized;
+
+            // Create the blueprint: 
+            var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+
+            // Build the rope path:
+            int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+            blueprint.path.AddControlPoint(startPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "start");
+            blueprint.path.AddControlPoint(endPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "end");
+            blueprint.path.FlushEvents();
+
+            if (fixedParticleCount)
+                blueprint.resolution = numParticles / (blueprint.path.Length / blueprint.thickness);
+
+            // Generate particles/constraints:
+            blueprint.GenerateImmediate();
+
+            // Add rope actor / renderer / attachment components:
+            var rope = gameObject.AddComponent<ObiRope>();
+            var ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+            var attachment1 = gameObject.AddComponent<ObiParticleAttachment>();
+            var attachment2 = gameObject.AddComponent<ObiParticleAttachment>();
+
+            // Load the default rope section for rendering:
+            ropeRenderer.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");
+
+            // Set the blueprint:
+            rope.ropeBlueprint = blueprint;
+
+            // Attach both ends:
+            attachment1.target = start;
+            attachment2.target = end;
+            attachment1.particleGroup = blueprint.groups[0];
+            attachment2.particleGroup = blueprint.groups[1];
+
+            // Parent the actor under a solver to start the simulation:
+            transform.SetParent(solver.transform);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs.meta
new file mode 100644
index 00000000..fe82b541
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs.meta
@@ -0,0 +1,11 @@
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+guid: 9eaa9e75d3f0a4e119decb19dce797be
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
new file mode 100644
index 00000000..a461ba31
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
@@ -0,0 +1,128 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+/**
+ * Sample component that procedurally generates a net using rigidbodies and ropes.
+ */
+public class RopeNet : MonoBehaviour
+{
+    public Material material;
+
+    public Vector2Int resolution = new Vector2Int(5, 5);
+    public Vector2 size = new Vector2(0.5f, 0.5f);
+    public float nodeSize = 0.2f;
+
+    void Awake()
+    {
+        // create an object containing both the solver and the updater:
+        GameObject solverObject = new GameObject("solver", typeof(ObiSolver));
+        ObiSolver solver = solverObject.GetComponent<ObiSolver>();
+        solver.substeps = 2;
+
+        // adjust solver settings:
+        solver.particleCollisionConstraintParameters.enabled = false;
+        solver.distanceConstraintParameters.iterations = 8;
+        solver.pinConstraintParameters.iterations = 4;
+        solver.parameters.sleepThreshold = 0.001f;
+        solver.PushSolverParameters();
+
+        // create the net (ropes + rigidbodies)
+        CreateNet(solver);
+    }
+
+    private void CreateNet(ObiSolver solver)
+    {
+        ObiCollider[,] nodes = new ObiCollider[resolution.x + 1, resolution.y + 1];
+
+        for (int x = 0; x <= resolution.x; ++x)
+        {
+            for (int y = 0; y <= resolution.y; ++y)
+            {
+                GameObject rb = GameObject.CreatePrimitive(PrimitiveType.Cube);
+                rb.transform.position = new Vector3(x, y, 0) * size;
+                rb.transform.localScale = new Vector3(nodeSize, nodeSize, nodeSize);
+
+                rb.AddComponent<Rigidbody>();
+                nodes[x, y] = rb.AddComponent<ObiCollider>();
+                nodes[x, y].Filter = 1;
+            }
+        }
+
+        nodes[0, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
+        nodes[resolution.x, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
+
+        for (int x = 0; x <= resolution.x; ++x)
+        {
+            for (int y = 0; y <= resolution.y; ++y)
+            {
+                Vector3 pos = new Vector3(x, y, 0) * size;
+                if (x < resolution.x)
+                {
+                    Vector3 offset = new Vector3(nodeSize * 0.5f, 0, 0);
+                    var rope = CreateRope(pos + offset, pos + new Vector3(size.x, 0, 0) - offset);
+                    rope.transform.parent = solver.transform;
+
+                    PinRope(rope, nodes[x, y], nodes[x + 1, y]);
+                }
+
+                if (y < resolution.y)
+                {
+                    Vector3 offset = new Vector3(0, nodeSize * 0.5f, 0);
+                    var rope = CreateRope(pos + offset, pos + new Vector3(0, size.y, 0) - offset);
+                    rope.transform.parent = solver.transform;
+
+                    PinRope(rope, nodes[x, y], nodes[x, y + 1]);
+                }
+            }
+        }
+    }
+
+    private void PinRope(ObiRope rope, ObiCollider bodyA, ObiCollider bodyB)
+    {
+        var A = rope.gameObject.AddComponent<ObiParticleAttachment>();
+        var B = rope.gameObject.AddComponent<ObiParticleAttachment>();
+
+        A.attachmentType = ObiParticleAttachment.AttachmentType.Dynamic;
+        B.attachmentType = ObiParticleAttachment.AttachmentType.Dynamic;
+
+        A.target = bodyA.transform;
+        B.target = bodyB.transform;
+
+        A.particleGroup = rope.ropeBlueprint.groups[0];
+        B.particleGroup = rope.ropeBlueprint.groups[1];
+    }
+
+    // Creates a rope between two points in world space:
+    private ObiRope CreateRope(Vector3 pointA, Vector3 pointB)
+    {
+        // Create a rope
+        var ropeObject = new GameObject("solver", typeof(ObiRope), typeof(ObiRopeLineRenderer));
+        var rope = ropeObject.GetComponent<ObiRope>();
+        var ropeRenderer = ropeObject.GetComponent<ObiRopeLineRenderer>();
+        rope.GetComponent<ObiRopeLineRenderer>().material = material;
+        rope.GetComponent<ObiPathSmoother>().decimation = 0.1f;
+        ropeRenderer.uvScale = new Vector2(1, 5);
+
+        // Setup a blueprint for the rope:
+        var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+        blueprint.resolution = 0.15f;
+        blueprint.thickness = 0.02f;
+        blueprint.pooledParticles = 0;
+
+        // convert both points to the rope's local space:
+        pointA = rope.transform.InverseTransformPoint(pointA);
+        pointB = rope.transform.InverseTransformPoint(pointB);
+
+        // Procedurally generate the rope path (a simple straight line):
+        Vector3 direction = (pointB - pointA) * 0.25f;
+        blueprint.path.Clear();
+        blueprint.path.AddControlPoint(pointA, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "A");
+        blueprint.path.AddControlPoint(pointB, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "B");
+        blueprint.path.FlushEvents();
+
+        rope.ropeBlueprint = blueprint;
+        return rope;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs.meta
new file mode 100644
index 00000000..9bc85116
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs.meta
@@ -0,0 +1,13 @@
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+guid: 83e341aa1a9a14825ab84ad04cd5f44c
+labels:
+- ObiRope
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
new file mode 100644
index 00000000..a251e7cd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
@@ -0,0 +1,148 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+public class RopeSweepCut : MonoBehaviour
+{
+
+    public Camera cam;
+
+    ObiRope rope;
+    LineRenderer lineRenderer;
+    Vector3 cutStartPosition;
+    Vector3 cutEndPosition;
+    bool cut;
+
+    private void Awake()
+    {
+        rope = GetComponent<ObiRope>();
+        AddMouseLine();
+    }
+
+    private void OnDestroy()
+    {
+        DeleteMouseLine();
+    }
+
+    private void OnEnable()
+    {
+        rope.OnSimulationStart += Rope_OnBeginSimulation;
+    }
+
+    private void OnDisable()
+    {
+        rope.OnSimulationStart -= Rope_OnBeginSimulation;
+    }
+
+    private void AddMouseLine()
+    {
+        GameObject line = new GameObject("Mouse Line");
+        lineRenderer = line.AddComponent<LineRenderer>();
+        lineRenderer.startWidth = 0.005f;
+        lineRenderer.endWidth = 0.005f;
+        lineRenderer.numCapVertices = 2;
+        lineRenderer.sharedMaterial = new Material(Shader.Find("Unlit/Color"));
+        lineRenderer.sharedMaterial.color = Color.cyan;
+        lineRenderer.enabled = false;
+    }
+
+    private void DeleteMouseLine()
+    {
+        if (lineRenderer != null)
+            Destroy(lineRenderer.gameObject);
+    }
+
+    private void LateUpdate()
+    {
+        // do nothing if we don't have a camera to cut from.
+        if (cam == null) return;
+
+        // process user input and cut the rope if necessary.
+        ProcessInput();
+    }
+
+    private void Rope_OnBeginSimulation(ObiActor actor, float stepTime, float substepTime)
+    {
+        if (cut)
+        {
+            ScreenSpaceCut(cutStartPosition, cutEndPosition);
+            cut = false;
+        }
+    }
+
+    /**
+     * Very simple mouse-based input. Not ideal for multitouch screens as it only supports one finger, though.
+     */
+    private void ProcessInput()
+    {
+        // When the user clicks the mouse, start a line cut:
+        if (Input.GetMouseButtonDown(0))
+        {
+            cutStartPosition = Input.mousePosition;
+            lineRenderer.SetPosition(0, cam.ScreenToWorldPoint(new Vector3(cutStartPosition.x, cutStartPosition.y, 0.5f)));
+            lineRenderer.enabled = true;
+        }
+
+        if (lineRenderer.enabled)
+            lineRenderer.SetPosition(1, cam.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, 0.5f)));
+
+        // When the user lifts the mouse, proceed to cut.
+        if (Input.GetMouseButtonUp(0))
+        {
+            cutEndPosition = Input.mousePosition;
+            lineRenderer.enabled = false;
+            cut = true;
+        }
+    }
+
+
+    /**
+     * Cuts the rope using a line segment, expressed in screen-space.
+     */
+    private void ScreenSpaceCut(Vector2 lineStart, Vector2 lineEnd)
+    {
+        // keep track of whether the rope was cut or not.
+        bool ropeCut = false;
+
+        // iterate over all elements and test them for intersection with the line:
+        for (int i = 0; i < rope.elements.Count; ++i)
+        {
+            // project the both ends of the element to screen space.
+            Vector3 screenPos1 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle1]);
+            Vector3 screenPos2 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle2]);
+
+            // test if there's an intersection:
+            if (SegmentSegmentIntersection(screenPos1, screenPos2, lineStart, lineEnd, out float r, out float s))
+            {
+                ropeCut = true;
+                rope.Tear(rope.elements[i]);
+            }
+        }
+
+        // If the rope was cut at any point, rebuilt constraints:
+        if (ropeCut) rope.RebuildConstraintsFromElements();
+    }
+
+    /**
+     * line segment 1 is AB = A+r(B-A)
+     * line segment 2 is CD = C+s(D-C)
+     * if they intesect, then A+r(B-A) = C+s(D-C), solving for r and s gives the formula below.
+     * If both r and s are in the 0,1 range, it meant the segments intersect.
+     */
+    private bool SegmentSegmentIntersection(Vector2 A, Vector2 B, Vector2 C, Vector2 D, out float r, out float s)
+    {
+        float denom = (B.x - A.x) * (D.y - C.y) - (B.y - A.y) * (D.x - C.x);
+        float rNum = (A.y - C.y) * (D.x - C.x) - (A.x - C.x) * (D.y - C.y);
+        float sNum = (A.y - C.y) * (B.x - A.x) - (A.x - C.x) * (B.y - A.y);
+
+        if (Mathf.Approximately(rNum, 0) || Mathf.Approximately(denom, 0))
+        { r = -1; s = -1; return false; }
+
+        r = rNum / denom;
+        s = sNum / denom;
+
+        return (r >= 0 && r <= 1 && s >= 0 && s <= 1);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta
new file mode 100644
index 00000000..ba9f07b7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
new file mode 100644
index 00000000..50312f40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
@@ -0,0 +1,14 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RopeTenser : MonoBehaviour
+{
+	public float force = 10;
+
+    // Update is called once per frame
+    void Update()
+    {
+		GetComponent<Rigidbody>().AddForce(Vector3.down * force);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs.meta
new file mode 100644
index 00000000..6af8d62b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
new file mode 100644
index 00000000..a87977ab
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
@@ -0,0 +1,58 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+public class RopeTensionColorizer : MonoBehaviour
+{
+    public float minTension = 0;
+    public float maxTension = 0.2f;
+    public Color normalColor = Color.green;
+	public Color tensionColor = Color.red;
+
+    public RopeTenser tenser;
+    public float tenserThreshold = -5;
+    public float tenserMax = 0.1f;
+
+    private ObiRope rope;
+    private Material localMaterial;
+
+    void Awake()
+    {
+		rope = GetComponent<ObiRope>();
+        var rend = GetComponent<ObiRopeLineRenderer>();
+        localMaterial = Instantiate(rend.material);
+        rend.material = localMaterial;
+
+    }
+
+    private void OnDestroy()
+    {
+        Destroy(localMaterial);
+    }
+
+    void Update()
+    {
+        if (tenser == null)
+            return;
+
+        // Calculate how much past the threshold the tenser is, clamp the excess to 1
+        float tenserFactor = Mathf.Min((tenser.transform.position.y - tenserThreshold) / tenserMax,1);
+
+        // Check if the tenser is above the threshold, if so then check rope tension:
+        if (tenserFactor > 0)
+        {
+            // Calculate current tension as ratio between current and rest length, then subtract 1 to center it at zero.
+            float tension = rope.CalculateLength() / rope.restLength - 1;
+
+            // Use tension to interpolate between colors:
+            float lerpFactor = (tension - minTension) / (maxTension - minTension);
+            localMaterial.color = Color.Lerp(normalColor, tensionColor, lerpFactor * tenserFactor);
+        }
+        else
+        {
+            localMaterial.color = normalColor;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs.meta
new file mode 100644
index 00000000..c6f4f97c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 51f5e34b2316b45c6bdf971b375b5f2e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
new file mode 100644
index 00000000..fcab6402
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
@@ -0,0 +1,124 @@
+using UnityEngine;
+using Obi;
+
+public class SnakeController : MonoBehaviour
+{
+    public Transform headReferenceFrame;
+    public float headSpeed = 20;
+    public float upSpeed = 40;
+    public float slitherSpeed = 10;
+
+    private ObiRope rope;
+    private ObiSolver solver;
+    private float[] traction;
+    private Vector3[] surfaceNormal;
+
+    private void Start()
+    {
+        rope = GetComponent<ObiRope>();
+        solver = rope.solver;
+
+        // subscribe to solver events (to update surface information)
+        rope.OnSimulationStart += ResetSurfaceInfo;
+        solver.OnCollision += AnalyzeContacts;
+        solver.OnParticleCollision += AnalyzeContacts;
+    }
+
+
+    private void OnDestroy()
+    {
+        rope.OnSimulationStart -= ResetSurfaceInfo;
+        solver.OnCollision -= AnalyzeContacts;
+        solver.OnParticleCollision -= AnalyzeContacts;
+    }
+
+    private void ResetSurfaceInfo(ObiActor a, float simulatedTime, float substepTime)
+    {
+
+        if (traction == null)
+        {
+            traction = new float[rope.activeParticleCount];
+            surfaceNormal = new Vector3[rope.activeParticleCount];
+        }
+
+        if (Input.GetKey(KeyCode.J))
+        {
+            for (int i = 1; i < rope.activeParticleCount; ++i)
+            {
+                int solverIndex = rope.solverIndices[i];
+                int prevSolverIndex = rope.solverIndices[i - 1];
+
+                // direction from current particle to previous one, projected on the contact surface:
+                Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
+
+                // move in that direction:
+                solver.velocities[solverIndex] += dir * traction[i] / solver.invMasses[solverIndex] * slitherSpeed * simulatedTime;
+            }
+        }
+
+        int headIndex = rope.solverIndices[0];
+
+        if (headReferenceFrame != null)
+        {
+            Vector3 direction = Vector3.zero;
+
+            // Determine movement direction:
+            if (Input.GetKey(KeyCode.W))
+            {
+                direction += headReferenceFrame.forward * headSpeed;
+            }
+            if (Input.GetKey(KeyCode.A))
+            {
+                direction += -headReferenceFrame.right * headSpeed;
+            }
+            if (Input.GetKey(KeyCode.S))
+            {
+                direction += -headReferenceFrame.forward * headSpeed;
+            }
+            if (Input.GetKey(KeyCode.D))
+            {
+                direction += headReferenceFrame.right * headSpeed;
+            }
+
+            // flatten out the direction so that it's parallel to the ground:
+            direction.y = 0;
+
+            solver.velocities[headIndex] += (Vector4)direction * simulatedTime;
+        }
+
+        if (Input.GetKey(KeyCode.Space))
+            solver.velocities[headIndex] += (Vector4)Vector3.up * simulatedTime * upSpeed;
+
+
+        // reset surface info:
+        for (int i = 0; i < traction.Length; ++i)
+        {
+            traction[i] = 0;
+            surfaceNormal[i] = Vector3.zero;
+        }
+
+    }
+
+    private void AnalyzeContacts(object sender, ObiNativeContactList e)
+    {
+        // iterate trough all contacts:
+        for (int i = 0; i < e.count; ++i)
+        {
+            var contact = e[i];
+            if (contact.distance < 0.005f)
+            {
+                int simplexIndex = solver.simplices[contact.bodyA];
+                var particleInActor = solver.particleToActor[simplexIndex];
+
+                if (particleInActor != null && particleInActor.actor == rope && traction != null)
+                {
+                    // using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
+                    traction[particleInActor.indexInActor] = 1;
+
+                    // accumulate surface normal:
+                    surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
+                }
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta
new file mode 100644
index 00000000..1a173355
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e5d46d2f0b9f9496f9ed59231aa6982d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
new file mode 100644
index 00000000..ae350d1b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
@@ -0,0 +1,50 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[ExecuteInEditMode]
+public class SpiralCurve : MonoBehaviour {
+
+	public float radius = 0.25f;
+	public float radialStep = 0.8f;
+	public float heightStep = 0.04f;
+	public float points = 30;
+
+    public float rotationalMass = 1;
+    public float thickness = 1;
+
+    void Awake ()
+    {
+        Generate();
+    }
+
+    public void Generate()
+    {
+        var rod = GetComponent<ObiRopeBase>();
+        if (rod == null) return;
+
+        var blueprint = rod.sourceBlueprint as ObiRopeBlueprintBase;
+        if (blueprint == null) return;
+
+        blueprint.path.Clear();
+
+        float ang = 0;
+        float height = 0;
+
+        for (int i = 0; i < points; ++i)
+        {
+            Vector3 point = new Vector3(Mathf.Cos(ang) * radius, height, Mathf.Sin(ang) * radius);
+
+            // optimal handle length for circle approximation: 4/3 tan(pi/(2n))
+            Vector3 tangent = new Vector3(-point.z, heightStep, point.x).normalized * (4.0f / 3.0f) * Mathf.Tan(radialStep / 4.0f) * radius;
+
+            blueprint.path.AddControlPoint(point, -tangent, tangent, Vector3.up, 1, rotationalMass, thickness, 1, Color.white, "control point " + i);
+            ang += radialStep;
+            height += heightStep;
+        }
+
+        blueprint.path.FlushEvents();
+    }
+
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs.meta
new file mode 100644
index 00000000..2eb51c90
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: e76488b5e11ef47ba9c0746db5c47115
+labels:
+- ObiRope
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs
new file mode 100644
index 00000000..c403418c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs
@@ -0,0 +1,86 @@
+using System.Collections;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(Rigidbody))]
+public class TangledPeg : MonoBehaviour
+{
+    public TangledPegSlot currentSlot;
+    public Collider floorCollider;
+    public ObiRope attachedRope;
+
+    [Header("Movement")]
+    public float stiffness = 200;
+    public float damping = 20;
+    public float maxAccel = 50;
+    public float minDistance = 0.05f;
+
+
+    public Rigidbody rb { get; private set; }
+    public ObiRigidbody orb { get; private set; }
+
+    void Awake()
+    {
+        rb = GetComponent<Rigidbody>();
+        orb = GetComponent<ObiRigidbody>();
+
+        // Ignore collisions with the floor:
+        Physics.IgnoreCollision(GetComponent<Collider>(), floorCollider);
+
+        // Initialize the peg's current slot, if any:
+        if (currentSlot != null)
+        {
+            currentSlot.currentPeg = this;
+            transform.position = currentSlot.transform.position;
+        }
+    }
+
+    public float MoveTowards(Vector3 position)
+    {
+        Vector3 vector = position - transform.position;
+        float distance = Vector3.Magnitude(vector);
+
+        // simple damped spring: F = -kx - vu
+        Vector3 accel = stiffness * vector - damping * rb.velocity;
+
+        // clamp spring acceleration:
+        accel = Vector3.ClampMagnitude(accel, maxAccel);
+
+        rb.AddForce(accel, ForceMode.Acceleration);
+
+        return distance;
+    }
+
+    public void DockInSlot(TangledPegSlot slot)
+    {
+        StopAllCoroutines();
+        StartCoroutine(MoveTowardsSlot(slot));
+    }
+
+    public void UndockFromCurrentSlot()
+    {
+        if (currentSlot != null)
+        {
+            currentSlot.currentPeg = null;
+            rb.isKinematic = false;
+        }
+    }
+
+    private IEnumerator MoveTowardsSlot(TangledPegSlot slot)
+    {
+        float distance = float.MaxValue;
+        orb.kinematicForParticles = true;
+
+        while (distance > minDistance)
+        {
+            distance = MoveTowards(slot.transform.position);
+            yield return 0;
+        }
+
+        currentSlot = slot;
+        currentSlot.currentPeg = this;
+        transform.position = currentSlot.transform.position;
+        rb.isKinematic = true;
+        orb.kinematicForParticles = false;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta
new file mode 100644
index 00000000..5e3431e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta
@@ -0,0 +1,11 @@
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+guid: beb10e70cc06a4b019ecf88348a5f7fa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs
new file mode 100644
index 00000000..851a1f7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs
@@ -0,0 +1,32 @@
+using UnityEngine;
+
+
+public class TangledPegSlot : MonoBehaviour
+{
+    public TangledPeg currentPeg;
+    public Color tintColor;
+
+    private Material instance;
+    private Color normalColor;
+
+    public void Awake()
+    {
+        instance = GetComponent<Renderer>().material;
+        normalColor = instance.color;
+    }
+
+    public void Tint()
+    {
+        instance.color = tintColor;
+    }
+
+    public void ResetColor()
+    {
+        instance.color = normalColor;
+    }
+
+    public void OnDestroy()
+    {
+        Destroy(instance);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta
new file mode 100644
index 00000000..b4c1bbdf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta
@@ -0,0 +1,11 @@
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+guid: 866212c246a9c4c5797069099ad745aa
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs
new file mode 100644
index 00000000..e010a97f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs
@@ -0,0 +1,136 @@
+using UnityEngine;
+using UnityEngine.Events;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class TangledRopesGameController : MonoBehaviour
+{
+	public TangledPegSlot[] pegSlots;
+    public float pegHoverHeight = 1;
+    public float maxPegDistanceFromSlot = 1.5f;
+    public int framesWithoutContactsToWin = 30;
+    public UnityEvent onFinish = new UnityEvent();
+
+    private TangledPeg selectedPeg;
+    private Plane floor = new Plane(Vector3.up, 0);
+    private int framesSinceLastContact = 0;
+
+    void OnEnable()
+	{
+        GetComponent<ObiSolver>().OnParticleCollision += Solver_OnParticleCollision;
+	}
+
+	private void OnDisable()
+	{
+        GetComponent<ObiSolver>().OnParticleCollision -= Solver_OnParticleCollision;
+	}
+
+    private TangledPegSlot FindCandidateSlot(TangledPeg peg)
+    {
+        // Go over all slots, find the closest one to the peg that's closer than
+        // maxPegDistanceFromSlot:
+
+        TangledPegSlot closest = null;
+        float closestDistance = float.MaxValue;
+
+        foreach (TangledPegSlot slot in pegSlots)
+        {
+            // reset slot color, to make sure it looks normal if it's not a candidate for our peg.
+            slot.ResetColor();
+
+            // ignore occupied slots:
+            if (slot.currentPeg != null)
+                continue;
+
+            Vector3 slotOnFloor = floor.ClosestPointOnPlane(slot.transform.position);
+            Vector3 pegOnFloor = floor.ClosestPointOnPlane(peg.transform.position);
+
+            float distance = Vector3.Distance(slotOnFloor, pegOnFloor);
+            if (distance < closestDistance && distance < maxPegDistanceFromSlot)
+            {
+                closest = slot;
+                closestDistance = distance;
+            }
+        }
+
+        return closest;
+    }
+
+	private void Update()
+	{
+        Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+
+        // User clicks, cast a ray towards the floor, see if it hits any peg.
+        if (Input.GetMouseButtonDown(0))
+        {
+            if (Physics.Raycast(ray, out RaycastHit hit))
+            {
+                // if the ray hit a peg, store it as the selected peg and lift it off from its current slot.
+                if (hit.transform.TryGetComponent(out TangledPeg peg) && peg.currentSlot != null)
+                {
+                    selectedPeg = peg;
+                    selectedPeg.UndockFromCurrentSlot();
+                }
+            }
+        }
+
+        if (selectedPeg != null)
+        {
+            // Make selected peg follow the mouse cursor:
+            if (floor.Raycast(ray, out float enter))
+                selectedPeg.MoveTowards(ray.GetPoint(enter) + Vector3.up * pegHoverHeight);
+
+            // Try to find a suitable slot to drop the peg:
+            TangledPegSlot closest = FindCandidateSlot(selectedPeg);
+
+            // If we found a candidate slot, tint it to give the player some visual feedback:
+            if (closest != null)
+                closest.Tint();
+
+            // Drop selected peg:
+            if (Input.GetMouseButtonUp(0))
+            {
+                // If we could find a free slot nearby, connect to it:
+                if (closest != null)
+                {
+                    selectedPeg.currentSlot = null;
+                    selectedPeg.DockInSlot(closest);
+                    closest.ResetColor();
+                }
+                else  // If we couldn't find one or if it's too far, return to current slot.
+                {
+                    selectedPeg.DockInSlot(selectedPeg.currentSlot);
+                }
+
+                selectedPeg = null;
+            }
+        }
+
+        // If all ropes have been contact-free for a certain amount of frames, trigger finish event.
+        if (framesSinceLastContact >= framesWithoutContactsToWin && onFinish != null)
+            onFinish.Invoke();
+                
+    }
+
+    private void Solver_OnParticleCollision(ObiSolver s, ObiNativeContactList e)
+	{
+        // Count contacts between different ropes (that is, exclude self-contacts):
+        int contactsBetweenRopes = 0;
+
+        for (int i = 0; i < e.count; ++i)
+        {
+            var ropeA = s.particleToActor[s.simplices[e[i].bodyA]].actor;
+            var ropeB = s.particleToActor[s.simplices[e[i].bodyB]].actor;
+
+            if (ropeA != ropeB)
+                contactsBetweenRopes++;
+        }
+
+        // If there's no contacts, bump the amount of frames we've been contact-free.
+        // Otherwise reset the amount of frames to zero.
+        if (contactsBetweenRopes == 0)
+            framesSinceLastContact++;
+        else
+            framesSinceLastContact = 0;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta
new file mode 100644
index 00000000..3a556d54
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta
@@ -0,0 +1,11 @@
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+guid: c1cdc16773c1f4ebe94e32c3ae0005bf
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
new file mode 100644
index 00000000..4a5508b8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
@@ -0,0 +1,72 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class WrapRopeGameController : MonoBehaviour
+{
+
+	ObiSolver solver;
+
+	public Wrappable[] wrappables;
+	public UnityEvent onFinish = new UnityEvent();
+
+	private void Awake()
+	{
+		solver = GetComponent<ObiSolver>();
+	}
+
+	// Start is called before the first frame update
+	void OnEnable()
+	{
+		solver.OnCollision += Solver_OnCollision;
+	}
+
+	private void OnDisable()
+	{
+		solver.OnCollision -= Solver_OnCollision;
+	}
+
+	private void Update()
+	{
+		bool allWrapped = true;
+
+        // Test our win condition: all pegs must be wrapped.
+		foreach (var wrappable in wrappables)
+		{
+			if (!wrappable.IsWrapped())
+			{
+				allWrapped = false;
+				break;
+			}
+		}
+
+		if (allWrapped)
+			onFinish.Invoke();
+	}
+
+	private void Solver_OnCollision(ObiSolver s, ObiNativeContactList e)
+	{
+		// reset to unwrapped state:
+		foreach (var wrappable in wrappables)
+			wrappable.Reset();
+
+		var world = ObiColliderWorld.GetInstance();
+		foreach (Oni.Contact contact in e)
+		{
+			// look for actual contacts only:
+			if (contact.distance < 0.025f)
+			{
+				var col = world.colliderHandles[contact.bodyB].owner;
+				if (col != null)
+				{
+					var wrappable = col.GetComponent<Wrappable>();
+                    if (wrappable != null)
+						wrappable.SetWrapped();
+				}
+			}
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta
new file mode 100644
index 00000000..a1437745
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
new file mode 100644
index 00000000..306142cf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
@@ -0,0 +1,42 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+[RequireComponent(typeof(Rigidbody))]
+public class WrapRopePlayerController : MonoBehaviour
+{
+    public float acceleration = 50;
+    Rigidbody rb;
+
+    void Awake()
+    {
+        rb = GetComponent<Rigidbody>();
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        Vector3 direction = Vector3.zero;
+
+        // Determine movement direction:
+        if (Input.GetKey(KeyCode.W))
+        {
+            direction += Vector3.up * acceleration;
+        }
+        if (Input.GetKey(KeyCode.A))
+        {
+            direction += Vector3.left * acceleration;
+        }
+        if (Input.GetKey(KeyCode.S))
+        {
+            direction += Vector3.down * acceleration;
+        }
+        if (Input.GetKey(KeyCode.D))
+        {
+            direction += Vector3.right * acceleration;
+        }
+
+        rb.AddForce(direction.normalized * acceleration, ForceMode.Acceleration);
+    }
+
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta
new file mode 100644
index 00000000..a819f0c7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fdf58ad80e1cd4860aa12e8da0aa833c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
new file mode 100644
index 00000000..4ed95690
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
@@ -0,0 +1,41 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Wrappable : MonoBehaviour
+{
+
+	private bool wrapped = false;
+	public Color normalColor = new Color(0.2f,0.2f,0.8f);
+	public Color wrappedColor = new Color(0.9f, 0.9f, 0.2f);
+
+	Material localMaterial;
+
+    public void Awake()
+	{
+		localMaterial = GetComponent<MeshRenderer>().material;
+	}
+
+    public void OnDestroy()
+	{
+		Destroy(localMaterial);
+	}
+
+	public void Reset()
+	{
+		wrapped = false;
+		localMaterial.color = normalColor;
+	}
+
+    public void SetWrapped()
+	{
+		wrapped = true;
+		localMaterial.color = wrappedColor;
+	}
+
+	public bool IsWrapped()
+	{
+		return wrapped;
+	}
+
+}
diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs.meta
new file mode 100644
index 00000000..1982e779
--- /dev/null
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@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta
new file mode 100644
index 00000000..01e9927f
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+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png
new file mode 100644
index 00000000..f33a031f
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta
new file mode 100644
index 00000000..4dbd893f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta
@@ -0,0 +1,123 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_NRM.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_NRM.png
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new file mode 100644
index 00000000..d7fc89aa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_NRM.png.meta
@@ -0,0 +1,90 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_OCC.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_OCC.png
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new file mode 100644
index 00000000..fc28463d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_OCC.png.meta
@@ -0,0 +1,90 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_red.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_red.png
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index 00000000..f900cb95
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new file mode 100644
index 00000000..63234a1d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rope_red.png.meta
@@ -0,0 +1,134 @@
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/cylinder_NRM.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/cylinder_NRM.png
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new file mode 100644
index 00000000..194c30a1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/cylinder_NRM.png.meta
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/greatwhiteshark.png b/xiaofang/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/greatwhiteshark.png
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity b/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity.meta b/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity.meta
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diff --git a/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting b/xiaofang/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting
new file mode 100644
index 00000000..bc62f44f
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@@ -0,0 +1,64 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Actors.meta b/xiaofang/Assets/Obi/Scripts/Common/Actors.meta
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs b/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
new file mode 100644
index 00000000..691131ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    // Interface for classes that hold a collection of particles. Contains method to get common particle properties.
+    public interface IObiParticleCollection 
+    {
+        int particleCount { get; }
+        int activeParticleCount { get; }
+        bool usesOrientedParticles { get; }
+
+        int GetParticleRuntimeIndex(int index); // returns solver or blueprint index, depending on implementation.
+
+        Vector3 GetParticlePosition(int index);
+        Quaternion GetParticleOrientation(int index);
+
+        Vector3 GetParticleRestPosition(int index);
+        Quaternion GetParticleRestOrientation(int index);
+
+        void GetParticleAnisotropy(int index, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3);
+        float GetParticleMaxRadius(int index);
+        Color GetParticleColor(int index);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs.meta
new file mode 100644
index 00000000..ec362ee0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs b/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
new file mode 100644
index 00000000..74a3793b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
@@ -0,0 +1,1261 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+
+namespace Obi
+{
+
+    /**
+     * Represents a group of related particles. ObiActor does not make
+     * any assumptions about the relationship between these particles, except that they get allocated 
+     * and released together.
+     */
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public abstract class ObiActor : MonoBehaviour, IObiParticleCollection
+    {
+        public class ObiActorSolverArgs : System.EventArgs
+        {
+            public ObiSolver solver { get; }
+
+            public ObiActorSolverArgs(ObiSolver solver)
+            {
+                this.solver = solver;
+            }
+        }
+
+        private struct BufferedForces
+        {
+            public bool dirty;
+
+            public Vector4 force;
+            public Vector4 acceleration;
+            public Vector4 impulse;
+            public Vector4 velChange;
+
+            public Vector4 angularForce;
+            public Vector4 angularAcceleration;
+            public Vector4 angularImpulse;
+            public Vector4 angularVelChange;
+
+            public void Clear()
+            {
+                force = Vector4.zero;
+                acceleration = Vector4.zero;
+                impulse = Vector4.zero;
+                velChange = Vector4.zero;
+                angularForce = Vector4.zero;
+                angularAcceleration = Vector4.zero;
+                angularImpulse = Vector4.zero;
+                angularVelChange = Vector4.zero;
+            }
+        }
+
+        public delegate void ActorCallback(ObiActor actor);
+        public delegate void ActorStepCallback(ObiActor actor, float simulatedTime, float substepTime);
+        public delegate void ActorBlueprintCallback(ObiActor actor, ObiActorBlueprint blueprint);
+
+        /// <summary>
+        /// Called when the actor blueprint has been loaded into the solver.
+        /// </summary>
+        public event ActorBlueprintCallback OnBlueprintLoaded;
+
+        /// <summary>
+        /// Called when the actor blueprint has been unloaded from the solver.
+        /// </summary>
+        public event ActorBlueprintCallback OnBlueprintUnloaded;
+
+        /// <summary>
+        /// Called when the blueprint currently in use has been re-generated. This will always be preceded by a call to
+        /// OnBlueprintUnloaded and OnBlueprintLoaded.
+        /// </summary>
+        public event ActorBlueprintCallback OnBlueprintRegenerated;
+
+        /// <summary>
+        /// Called before simulation starts.
+        /// </summary>
+        public event ActorStepCallback OnSimulationStart;
+
+        /// <summary>
+        /// Called at the end of each frame, after interpolation but before rendering.
+        /// </summary>
+        public event ActorStepCallback OnInterpolate;
+
+        [HideInInspector] protected int m_ActiveParticleCount = 0;
+
+        /// <summary>
+        /// Index of each one of the actor's particles in the solver.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList solverIndices;
+
+        /// <summary>
+        /// For each of the actor's constraint types, offset of every batch in the solver.
+        /// </summary>
+        [HideInInspector] public List<int>[] solverBatchOffsets;
+
+        protected ObiSolver m_Solver;
+        protected bool m_Loaded = false;
+        public int groupID = 0;
+
+        private ObiActorBlueprint m_State;
+        private ObiActorBlueprint m_BlueprintInstance;
+        private ObiPinConstraintsData m_PinConstraints;
+        private BufferedForces bufferedForces = new BufferedForces();
+        [SerializeField] [HideInInspector] protected ObiCollisionMaterial m_CollisionMaterial;
+        [SerializeField] [HideInInspector] protected bool m_SurfaceCollisions = false;
+
+        /// <summary>
+        /// The solver in charge of simulating this actor.
+        /// </summary>
+        /// This is the first ObiSlver component found up the actor's hierarchy.
+        public ObiSolver solver
+        {
+            get { return m_Solver; }
+        }
+
+        /// <summary>
+        /// True if the actor blueprint has been loaded into a solver.
+        /// If true, it guarantees actor.solver, actor.solverIndices and actor.solverBatchOffsets won't be null.
+        /// </summary>
+        public bool isLoaded
+        {
+            get { return m_Loaded; }
+        }
+
+        /// <summary>
+        /// The collision material being used by this actor.
+        /// </summary>
+        public ObiCollisionMaterial collisionMaterial
+        {
+            get
+            {
+                return m_CollisionMaterial;
+            }
+            set
+            {
+                if (m_CollisionMaterial != value)
+                {
+                    m_CollisionMaterial = value;
+                    UpdateCollisionMaterials();
+                }
+            }
+        }
+
+        /// <summary>
+        /// Whether to use simplices (triangles, edges) for contact generation.
+        /// </summary>
+        public virtual bool surfaceCollisions
+        {
+            get
+            {
+                return m_SurfaceCollisions;
+            }
+            set
+            {
+                if (value != m_SurfaceCollisions)
+                {
+                    m_SurfaceCollisions = value;
+                    if (m_Solver != null)
+                    {
+                        m_Solver.dirtySimplices |= simplexTypes;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Amount of particles allocated by this actor.
+        /// </summary>
+        public int particleCount
+        {
+            get
+            {
+                return sourceBlueprint != null ? sourceBlueprint.particleCount : 0;
+            }
+        }
+
+        /// <summary>
+        /// Amount of particles in use by this actor. 
+        /// </summary>
+        /// This will always be equal to or smaller than <see cref="particleCount"/>.
+        public int activeParticleCount
+        {
+            get
+            {
+                return m_ActiveParticleCount;
+            }
+        }
+
+        /// <summary>
+        /// Whether this actors makes use of particle orientations or not.
+        /// </summary>
+        public bool usesOrientedParticles
+        {
+            get
+            {
+                return sourceBlueprint != null &&
+                       sourceBlueprint.invRotationalMasses != null && sourceBlueprint.invRotationalMasses.Length > 0 &&
+                       sourceBlueprint.orientations != null && sourceBlueprint.orientations.Length > 0 &&
+                       sourceBlueprint.restOrientations != null && sourceBlueprint.restOrientations.Length > 0;
+            }
+        }
+
+        /// <summary>
+        /// If true, it means particles may not be completely spherical, but ellipsoidal.
+        /// </summary>
+        public virtual bool usesAnisotropicParticles
+        {
+            get
+            {
+                return false;
+            }
+        }
+
+        public Oni.SimplexType simplexTypes
+        {
+            get
+            {
+                return (sourceBlueprint != null) ? sourceBlueprint.simplexTypes : Oni.SimplexType.Point;
+            }
+        }
+
+        /// <summary>
+        /// Matrix that transforms from the actor's local space to the solver's local space.
+        /// </summary>
+        /// If there's no solver present, this is the same as the actor's local to world matrix.
+        public Matrix4x4 actorLocalToSolverMatrix
+        {
+            get
+            {
+                if (m_Solver != null)
+                    return m_Solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
+                else
+                    return transform.localToWorldMatrix;
+            }
+        }
+
+        /// <summary>
+        /// Matrix that transforms from the solver's local space to the actor's local space.
+        /// </summary>
+        /// If there's no solver present, this is the same as the actor's world to local matrix.
+        /// This is always the same as the inverse of <see cref="actorLocalToSolverMatrix"/>.
+        public Matrix4x4 actorSolverToLocalMatrix
+        {
+            get
+            {
+                if (m_Solver != null)
+                    return transform.worldToLocalMatrix * m_Solver.transform.localToWorldMatrix;
+                else
+                    return transform.worldToLocalMatrix;
+            }
+        }
+
+        /// <summary>
+        /// Reference to the blueprint asset used by this actor.
+        /// </summary>
+        public abstract ObiActorBlueprint sourceBlueprint
+        {
+            get;
+        }
+
+        /// <summary>
+        /// Reference to the blueprint in use by this actor. 
+        /// </summary>
+        /// If you haven't called <see cref="blueprint"/> before, this will be the same as <see cref="sourceBlueprint"/>.
+        /// If you have called <see cref="blueprint"/> before, it will be the same as <see cref="blueprint"/>.
+        public ObiActorBlueprint sharedBlueprint
+        {
+            get
+            {
+                if (m_BlueprintInstance != null)
+                    return m_BlueprintInstance;
+                return sourceBlueprint;
+            }
+        }
+
+        /// <summary>
+        /// Returns a unique instance of this actor's <see cref="sourceBlueprint"/>. 
+        /// </summary>
+        /// This is mostly used when the actor needs to change some blueprint data at runtime,
+        /// and you don't want to change the blueprint asset as this would affect all other actors using it. Tearable cloth and ropes
+        /// make use of this.
+        public ObiActorBlueprint blueprint
+        {
+            get
+            {
+                if (m_BlueprintInstance == null && sourceBlueprint != null)
+                    m_BlueprintInstance = Instantiate(sourceBlueprint);
+
+                return m_BlueprintInstance;
+            }
+        }
+
+        protected virtual void Awake()
+        {
+#if UNITY_EDITOR
+
+            // Check if this script's GameObject is in a PrefabStage
+#if UNITY_2021_2_OR_NEWER
+            var prefabStage = UnityEditor.SceneManagement.PrefabStageUtility.GetPrefabStage(gameObject);
+#else
+            var prefabStage = UnityEditor.Experimental.SceneManagement.PrefabStageUtility.GetPrefabStage(gameObject);
+#endif
+
+            if (prefabStage != null)
+            {
+                // Only create a solver if there's not one up our hierarchy.
+                if (GetComponentInParent<ObiSolver>() == null)
+                {
+                    // Add our own environment root and move it to the PrefabStage scene
+                    var newParent = new GameObject("ObiSolver (Environment)", typeof(ObiSolver));
+                    UnityEngine.SceneManagement.SceneManager.MoveGameObjectToScene(newParent, gameObject.scene);
+                    transform.root.parent = newParent.transform;
+                }
+            }
+#endif
+        }
+
+        protected virtual void OnDestroy()
+        {
+            if (m_BlueprintInstance != null)
+                DestroyImmediate(m_BlueprintInstance);
+        }
+
+        protected virtual void OnEnable()
+        {
+            solverBatchOffsets = new List<int>[Oni.ConstraintTypeCount];
+            for (int i = 0; i < solverBatchOffsets.Length; ++i)
+                solverBatchOffsets[i] = new List<int>();
+
+            m_PinConstraints = new ObiPinConstraintsData();
+
+            // when an actor is enabled, grabs the first solver up its hierarchy,
+            // initializes it (if not initialized) and gets added to it.
+            m_Solver = GetComponentInParent<ObiSolver>();
+
+            AddToSolver();
+        }
+
+        protected virtual void OnDisable()
+        {
+            RemoveFromSolver();
+        }
+
+        protected virtual void OnValidate()
+        {
+            UpdateCollisionMaterials();
+        }
+
+        private void OnTransformParentChanged()
+        {
+            if (isActiveAndEnabled)
+                SetSolver(GetComponentInParent<ObiSolver>());
+        }
+
+        /// <summary>
+        /// Adds this actor to its solver, if any. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary>
+        public void AddToSolver()
+        {
+            if (m_Solver != null)
+            {
+                if (sourceBlueprint != null)
+                    sourceBlueprint.OnBlueprintGenerate += OnBlueprintRegenerate;
+
+                m_Solver.AddActor(this);
+            }
+        }
+
+        /// <summary>
+        /// Remove this actor from its solver, if any. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary>
+        public void RemoveFromSolver()
+        {
+            if (m_Solver != null)
+            {
+                if (sourceBlueprint != null)
+                    sourceBlueprint.OnBlueprintGenerate -= OnBlueprintRegenerate;
+
+                m_Solver.RemoveActor(this);
+            }
+        }
+
+        /// <summary>
+        /// Forcibly changes the solver in charge of this actor
+        /// </summary>
+        /// <param name="newSolver"> The solver we want to put in charge of this actor.</param>  
+        /// First it removes the actor from its current solver, then changes the actor's current solver and then readds it to this new solver.
+        protected void SetSolver(ObiSolver newSolver)
+        {
+            // In case the first solver up our hierarchy is not the one we're currently in, change solver.
+            if (newSolver != m_Solver)
+            {
+                RemoveFromSolver();
+
+                m_Solver = newSolver;
+
+                AddToSolver();
+            }
+        }
+
+        protected virtual void OnBlueprintRegenerate(ObiActorBlueprint blueprint)
+        {
+            // Reload by removing the current blueprint from the solver,
+            // destroying the current blueprint instance if any,
+            // then adding the shared blueprint again.
+
+            RemoveFromSolver();
+
+            if (m_BlueprintInstance != null)
+               DestroyImmediate(m_BlueprintInstance);
+
+            AddToSolver();
+            
+            OnBlueprintRegenerated?.Invoke(this, blueprint);
+        }
+
+        protected void UpdateCollisionMaterials()
+        {
+            if (isLoaded)
+            {
+                int index = m_CollisionMaterial != null ? m_CollisionMaterial.handle.index : -1;
+                for (int i = 0; i < solverIndices.count; i++)
+                {
+                    if (solverIndices[i] < solver.collisionMaterials.count)
+                        solver.collisionMaterials[solverIndices[i]] = index;
+                }
+            }
+        }
+
+        public virtual void ProvideDeformableTriangles(ObiNativeIntList deformableTriangles, ObiNativeVector2List deformableUVs)
+        {
+
+        }
+
+        public virtual void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+
+        }
+
+        /// <summary>
+        /// Copies all data (position, velocity, phase, etc) from one particle to another one. 
+        /// </summary>
+        /// <param name="actorSourceIndex"> Index in the actor arrays of the particle we will copy data from.</param>
+        /// <param name="actorDestIndex"> Index in the actor arrays of the particle we will copy data to.</param>
+        /// <returns>
+        /// Whether the indices passed are within actor bounds.
+        /// </returns> 
+        /// Extend this method to implement copying your own custom particle data in custom actors.
+        public virtual bool CopyParticle(int actorSourceIndex, int actorDestIndex)
+        {
+            if (!isLoaded ||
+                actorSourceIndex < 0 || actorSourceIndex >= solverIndices.count ||
+                actorDestIndex < 0 || actorDestIndex >= solverIndices.count)
+                return false;
+
+            int sourceIndex = solverIndices[actorSourceIndex];
+            int destIndex = solverIndices[actorDestIndex];
+
+            // Copy solver data:
+            m_Solver.prevPositions[destIndex] = m_Solver.prevPositions[sourceIndex];
+            m_Solver.restPositions[destIndex] = m_Solver.restPositions[sourceIndex];
+            m_Solver.endPositions[destIndex] = m_Solver.startPositions[destIndex] = m_Solver.positions[destIndex] = m_Solver.positions[sourceIndex];
+
+            m_Solver.prevOrientations[destIndex] = m_Solver.prevOrientations[sourceIndex];
+            m_Solver.restOrientations[destIndex] = m_Solver.restOrientations[sourceIndex];
+            m_Solver.endOrientations[destIndex] = m_Solver.startOrientations[destIndex] = m_Solver.orientations[destIndex] = m_Solver.orientations[sourceIndex];
+
+            m_Solver.velocities[destIndex] = m_Solver.velocities[sourceIndex];
+            m_Solver.angularVelocities[destIndex] = m_Solver.angularVelocities[sourceIndex];
+            m_Solver.invMasses[destIndex] = m_Solver.invMasses[sourceIndex];
+            m_Solver.invRotationalMasses[destIndex] = m_Solver.invRotationalMasses[sourceIndex];
+            m_Solver.principalRadii[destIndex] = m_Solver.principalRadii[sourceIndex];
+            m_Solver.phases[destIndex] = m_Solver.phases[sourceIndex];
+            m_Solver.filters[destIndex] = m_Solver.filters[sourceIndex];
+            m_Solver.colors[destIndex] = m_Solver.colors[sourceIndex];
+
+            return true;
+        }
+
+        /// <summary>
+        /// Teleports one actor particle to a certain position in solver space.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle we will teeleport.</param>
+        /// <param name="position"> Position to teleport the particle to, expressed in solver space.</param>
+        public void TeleportParticle(int actorIndex, Vector3 position)
+        {
+            if (!isLoaded || actorIndex < 0 || actorIndex >= solverIndices.count)
+                return;
+
+            int solverIndex = solverIndices[actorIndex];
+
+            Vector4 delta = (Vector4)position - m_Solver.positions[solverIndex];
+            m_Solver.positions[solverIndex] += delta;
+            m_Solver.prevPositions[solverIndex] += delta;
+            m_Solver.endPositions[solverIndex] += delta;
+            m_Solver.startPositions[solverIndex] += delta;
+        }
+
+        /// <summary>
+        /// Teleports the entire actor to a new location / orientation.
+        /// </summary>
+        /// <param name="position"> World space position to teleport the actor to.</param>
+        /// <param name="rotation"> World space rotation to teleport the actor to.</param>
+        public virtual Matrix4x4 Teleport(Vector3 position, Quaternion rotation)
+        {
+            if (!isLoaded)
+                return Matrix4x4.identity;
+
+            // Subtract current transform position/rotation, then add new world space position/rotation.
+            // Lastly, set the transform to the new position/rotation.
+            Matrix4x4 offset = solver.transform.worldToLocalMatrix *
+                               Matrix4x4.TRS(position, Quaternion.identity, Vector3.one) *
+                               Matrix4x4.TRS(Vector3.zero, rotation, Vector3.one) *
+                               Matrix4x4.TRS(Vector3.zero, Quaternion.Inverse(transform.rotation), Vector3.one) *
+                               Matrix4x4.TRS(-transform.position, Quaternion.identity, Vector3.one) *
+                               solver.transform.localToWorldMatrix;
+
+            Quaternion rotOffset = offset.rotation;
+
+            for (int i = 0; i < solverIndices.count; i++)
+            {
+                int solverIndex = solverIndices[i];
+
+                m_Solver.positions[solverIndex] =
+                m_Solver.prevPositions[solverIndex] =
+                m_Solver.endPositions[solverIndex] =
+                m_Solver.startPositions[solverIndex] = offset.MultiplyPoint3x4(m_Solver.positions[solverIndex]);
+
+                m_Solver.orientations[solverIndex] =
+                m_Solver.prevOrientations[solverIndex] =
+                m_Solver.endOrientations[solverIndex] =
+                m_Solver.startOrientations[solverIndex] = rotOffset * m_Solver.orientations[solverIndex];
+
+                m_Solver.velocities[solverIndex] = Vector4.zero;
+                m_Solver.angularVelocities[solverIndex] = Vector4.zero;
+            }
+
+            transform.position = position;
+            transform.rotation = rotation;
+
+            return offset;
+        }
+
+        protected virtual void SwapWithFirstInactiveParticle(int actorIndex)
+        {
+            // update solver indices:
+            m_Solver.particleToActor[solverIndices[actorIndex]].indexInActor = activeParticleCount;
+            m_Solver.particleToActor[solverIndices[activeParticleCount]].indexInActor = actorIndex;
+            solverIndices.Swap(actorIndex, activeParticleCount);
+        }
+
+        /// <summary>
+        /// Activates one particle.
+        /// </summary>
+        /// <returns>
+        /// True if a particle could be activated. False if there are no particles to activate.
+        /// </returns> 
+        /// This operation preserves the relative order of all particles.
+        public virtual bool ActivateParticle()
+        {
+            if (activeParticleCount >= particleCount)
+                return false;
+
+            // set active particle radius W to 1.
+            var radii = m_Solver.principalRadii[solverIndices[m_ActiveParticleCount]];
+            radii.w = 1;
+            m_Solver.principalRadii[solverIndices[m_ActiveParticleCount]] = radii;
+
+            m_ActiveParticleCount++;
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Deactivates one particle.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle we will deactivate.</param>
+        /// <returns>
+        /// True if the particle was active. False if the particle was already inactive.
+        /// </returns> 
+        /// This operation does not preserve the relative order of other particles, because the last active particle will
+        /// swap positions with the particle being deactivated.
+        public virtual bool DeactivateParticle(int actorIndex)
+        {
+            if (!IsParticleActive(actorIndex))
+                return false;
+
+            m_ActiveParticleCount--;
+
+            // set inactive particle W to zero, this allows renderers to ignore it.
+            var radii = m_Solver.principalRadii[solverIndices[actorIndex]];
+            radii.w = 0;
+            m_Solver.principalRadii[solverIndices[actorIndex]] = radii;
+
+            SwapWithFirstInactiveParticle(actorIndex);
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Returns whether a given particle is active.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle.</param>
+        /// <returns>
+        /// True if the particle is active. False if the particle is inactive.
+        /// </returns> 
+        public virtual bool IsParticleActive(int actorIndex)
+        {
+            return actorIndex < activeParticleCount;
+        }
+
+        /// <summary>
+        /// Updates particle phases in the solver at runtime, including or removing the self-collision flag.
+        /// </summary>
+        public virtual void SetSelfCollisions(bool selfCollisions)
+        {
+            if (m_Solver != null && Application.isPlaying && isLoaded)
+            {
+                for (int i = 0; i < particleCount; i++)
+                {
+                    if (selfCollisions)
+                        m_Solver.phases[solverIndices[i]] |= (int)ObiUtils.ParticleFlags.SelfCollide;
+                    else
+                        m_Solver.phases[solverIndices[i]] &= ~(int)ObiUtils.ParticleFlags.SelfCollide;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Updates particle phases in the solver at runtime, including or removing the one-sided flag.
+        /// </summary>
+        public virtual void SetOneSided(bool oneSided)
+        {
+            if (m_Solver != null && Application.isPlaying && isLoaded)
+            {
+                for (int i = 0; i < particleCount; i++)
+                {
+                    if (oneSided)
+                        m_Solver.phases[solverIndices[i]] |= (int)ObiUtils.ParticleFlags.OneSided;
+                    else
+                        m_Solver.phases[solverIndices[i]] &= ~(int)ObiUtils.ParticleFlags.OneSided;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Marks simplices dirty.
+        /// </summary>
+        public void SetSimplicesDirty()
+        {
+            if (m_Solver != null)
+                m_Solver.dirtySimplices |= simplexTypes;
+        }
+
+        /// <summary>
+        /// Marks a given constraint type as dirty. 
+        /// </summary>
+        /// <param name="constraintType"> Type of the constraints that need re-creation.</param>
+        /// This will cause the solver to perform a constraint re-creation at the start of the next step. Needed when the constraint data in an actor changes at runtime,
+        /// as a result of changing topology (torn cloth or ropes), or changes in internal constraint parameters such as compliance values. This is a relatively expensive operation,
+        /// so it's best to amortize as many constraint modification operations as possible in a single step.
+        public void SetConstraintsDirty(Oni.ConstraintType constraintType)
+        {
+            if (m_Solver != null)
+                m_Solver.dirtyConstraints |= 1 << (int)constraintType;
+        }
+
+        /// <summary>
+        /// Marks rendering dirty.
+        /// </summary>
+        public void SetRenderingDirty(Oni.RenderingSystemType rendererType)
+        {
+            if (m_Solver != null)
+                m_Solver.dirtyRendering |= (int)rendererType;
+        }
+
+        /// <summary>  
+        /// Returns the data representation of constraints of a given type being simulated by this solver.
+        /// </summary>  
+        /// <param name="type"> Type of the constraints that will be returned by this method.</param>  
+        /// <returns>
+        /// The runtime constraints of the type speficied. Most constraints are stored in the blueprint, with a couple notable exceptions: pin and stitch constraints
+        /// are always created at runtime, so they're not stored in the blueprint but in the actor itself.
+        /// </returns> 
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            // pin constraints are a special case, because they're not stored in a blueprint. They are created at runtime at stored in the actor itself.
+            if (type == Oni.ConstraintType.Pin)
+                return m_PinConstraints;
+
+            if (sharedBlueprint != null)
+                return sharedBlueprint.GetConstraintsByType(type);
+
+            return null;
+        }
+
+
+
+        /// <summary>  
+        /// Call when some particle properties have been modified and need updating.
+        /// </summary>  
+        /// Does not do anything by default. Call when manually modifying particle properties in the solver, should the actor need to do some book keeping.
+        /// For softbodies, updates their rest state. 
+        public virtual void UpdateParticleProperties()
+        {
+        }
+
+        /// <summary>  
+        /// Returns the index of this particle in the solver arrays.
+        /// </summary>  
+        /// <param name="actorIndex"> Index of the particle in the actor arrays.</param>  
+        /// <returns>
+        /// The index of a given particle in the solver arrays.
+        /// </returns>
+        /// At runtime when the blueprint is loaded, this is the same as calling actor.solverIndices[solverIndex].
+        /// If the blueprint is not loaded it will return the same index passed to it: actorIndex.
+        /// Note that this function does not perform any range checking.
+        public int GetParticleRuntimeIndex(int actorIndex)
+        {
+            if (isLoaded)
+                return solverIndices[actorIndex];
+            return actorIndex;
+        }
+
+
+        /// <summary>  
+        /// Given a solver particle index, returns the position of that particle in world space. 
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The position of a given particle in world space.
+        /// </returns>
+        public Vector3 GetParticlePosition(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.transform.TransformPoint(m_Solver.renderablePositions[solverIndex]);
+            return Vector3.zero;
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the orientation of that particle in world space. 
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The orientation of a given particle in world space.
+        /// </returns>
+        public Quaternion GetParticleOrientation(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.transform.rotation * m_Solver.renderableOrientations[solverIndex];
+            return Quaternion.identity;
+        }
+
+
+        /// <summary>  
+        /// Given a solver particle index, returns the rest position of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The position of a given particle in world space.
+        /// </returns>
+        public Vector3 GetParticleRestPosition(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.restPositions[solverIndex];
+            return Vector3.zero;
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the rest orientation of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The orientation of a given particle in world space.
+        /// </returns>
+        public Quaternion GetParticleRestOrientation(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.restOrientations[solverIndex];
+            return Quaternion.identity;
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the anisotropic frame of that particle in world space.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>
+        /// <param name="solverIndex"> First basis vector of the frame. Contains particle radius along this axis in the 4th position.</param>
+        /// <param name="solverIndex"> Second basis vector of the frame. Contains particle radius along this axis in the 4th position..</param>
+        /// <param name="solverIndex"> Third basis vector of the frame. Contains particle radius along this axis in the 4th position.</param>
+        public void GetParticleAnisotropy(int solverIndex, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3)
+        {
+            if (isLoaded && usesAnisotropicParticles)
+            {
+                b1 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.right);
+                b2 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.up);
+                b3 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.forward);
+
+                b1[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][0];
+                b2[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][1];
+                b3[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][2];
+            }
+            else
+            {
+                b1[3] = b2[3] = b3[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][0];
+            }
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the maximum world space radius of that particle, in any axis.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The maximum radius of a given particle in world space.
+        /// </returns>
+        public float GetParticleMaxRadius(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.maxScale * m_Solver.principalRadii[solverIndex][0];
+            return 0;
+        }
+
+
+        /// <summary>  
+        /// Given a solver particle index, returns the color of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The color of the particle.
+        /// </returns>
+        public Color GetParticleColor(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.colors[solverIndex];
+            return Color.white;
+        }
+
+        /// <summary>  
+        /// Sets a given category value for all particles in the actor.
+        /// </summary>  
+        /// <param name="newCategory"> Category value.</param>  
+        public void SetFilterCategory(int newCategory)
+        {
+            newCategory = Mathf.Clamp(newCategory, ObiUtils.MinCategory, ObiUtils.MaxCategory);
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                int solverIndex = solverIndices[i];
+                var mask = ObiUtils.GetMaskFromFilter(solver.filters[solverIndex]);
+                solver.filters[solverIndex] = ObiUtils.MakeFilter(mask, newCategory);
+            }
+        }
+
+        /// <summary>  
+        /// Sets a given mask value for all particles in the actor.
+        /// </summary>  
+        /// <param name="newMask"> Mask value.</param>  
+        public void SetFilterMask(int newMask)
+        {
+            newMask = Mathf.Clamp(newMask, ObiUtils.CollideWithNothing, ObiUtils.CollideWithEverything);
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                int solverIndex = solverIndices[i];
+                var category = ObiUtils.GetCategoryFromFilter(solver.filters[solverIndex]);
+                solver.filters[solverIndex] = ObiUtils.MakeFilter(newMask, category);
+            }
+        }
+
+        /// <summary>  
+        /// Sets the inverse mass of each particle so that the total actor mass matches the one passed by parameter.
+        /// </summary>  
+        /// <param name="mass"> The actor's total mass.</param>  
+        public void SetMass(float mass)
+        {
+            if (Application.isPlaying && isLoaded && activeParticleCount > 0)
+            {
+                float invMass = 1.0f / (mass / activeParticleCount);
+
+                for (int i = 0; i < activeParticleCount; ++i)
+                {
+                    int solverIndex = solverIndices[i];
+                    m_Solver.invMasses[solverIndex] = invMass;
+                    m_Solver.invRotationalMasses[solverIndex] = invMass;
+                }
+            }
+        }
+
+        /// <summary>  
+        /// Returns the actor's mass (sum of all particle masses), and the position of its center of mass.
+        /// </summary>  
+        /// <param name="com"> The actor's center of mass, expressed in solver space.</param>
+        /// Particles with infinite mass (invMass = 0) are ignored.
+        public float GetMass(out Vector3 com)
+        {
+
+            float actorMass = 0;
+            com = Vector3.zero;
+
+            if (Application.isPlaying && isLoaded && activeParticleCount > 0)
+            {
+                Vector4 com4 = Vector4.zero;
+
+                for (int i = 0; i < activeParticleCount; ++i)
+                {
+                    if (m_Solver.invMasses[solverIndices[i]] > 0)
+                    {
+                        float mass = 1.0f / m_Solver.invMasses[solverIndices[i]];
+                        actorMass += mass;
+                        com4 += m_Solver.positions[solverIndices[i]] * mass;
+                    }
+                }
+
+                com = com4;
+                if (actorMass > float.Epsilon)
+                    com /= actorMass;
+            }
+
+            return actorMass;
+        }
+
+        /// <summary>  
+        ///Adds an external force to all particles in the actor. 
+        /// </summary>  
+        /// <param name="force"> Value expressed in solver space.</param>
+        /// <param name="forceMode"> Type of "force" applied.</param>
+        public void AddForce(Vector3 force, ForceMode forceMode)
+        {
+            if (force.sqrMagnitude > Mathf.Epsilon)
+                bufferedForces.dirty = true;
+
+            switch (forceMode)
+            {
+                case ForceMode.Force:
+                    bufferedForces.force += (Vector4)force;
+                    break;
+                case ForceMode.Acceleration:
+                    bufferedForces.acceleration += (Vector4)force;
+                    break;
+                case ForceMode.Impulse:
+                    bufferedForces.impulse += (Vector4)force;
+                    break;
+                case ForceMode.VelocityChange:
+                    bufferedForces.velChange += (Vector4)force;
+                    break;
+            }
+        }
+
+        /// <summary>  
+        /// Adds a torque to the actor.
+        /// </summary>  
+        /// <param name="force"> Value expressed in solver space.</param>
+        /// <param name="forceMode"> Type of "torque" applied.</param>
+        public void AddTorque(Vector3 force, ForceMode forceMode)
+        {
+            if (force.sqrMagnitude > Mathf.Epsilon)
+                bufferedForces.dirty = true;
+
+            switch (forceMode)
+            {
+                case ForceMode.Force:
+                        bufferedForces.angularForce += (Vector4)force;
+                    break;
+                case ForceMode.Acceleration:
+                        bufferedForces.angularAcceleration += (Vector4)force;
+                    break;
+                case ForceMode.Impulse:
+                        bufferedForces.angularImpulse += (Vector4)force;
+                    break;
+                case ForceMode.VelocityChange:
+                        bufferedForces.angularVelChange += (Vector4)force;
+                    break;
+            }
+        }
+
+        #region Blueprints
+
+        private void LoadBlueprintParticles(ObiActorBlueprint bp)
+        {
+
+            Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+            Quaternion l2sRotation = l2sTransform.rotation;
+
+            for (int i = 0; i < solverIndices.count; i++)
+            {
+                int k = solverIndices[i];
+
+                if (bp.positions != null && i < bp.positions.Length)
+                {
+                    m_Solver.endPositions[k] = m_Solver.startPositions[k] = m_Solver.prevPositions[k] = m_Solver.positions[k] = l2sTransform.MultiplyPoint3x4(bp.positions[i]);
+                    m_Solver.renderablePositions[k] = l2sTransform.MultiplyPoint3x4(bp.positions[i]);
+                }
+
+                if (bp.orientations != null && i < bp.orientations.Length)
+                {
+                    m_Solver.endOrientations[k] = m_Solver.startOrientations[k] = m_Solver.prevOrientations[k] = m_Solver.orientations[k] = l2sRotation * bp.orientations[i];
+                    m_Solver.renderableOrientations[k] = l2sRotation * bp.orientations[i];
+                }
+
+                if (bp.restPositions != null && i < bp.restPositions.Length)
+                    m_Solver.restPositions[k] = bp.restPositions[i];
+
+                if (bp.restOrientations != null && i < bp.restOrientations.Length)
+                    m_Solver.restOrientations[k] = bp.restOrientations[i];
+
+                if (bp.velocities != null && i < bp.velocities.Length)
+                    m_Solver.velocities[k] = l2sTransform.MultiplyVector(bp.velocities[i]);
+
+                if (bp.angularVelocities != null && i < bp.angularVelocities.Length)
+                    m_Solver.angularVelocities[k] = l2sTransform.MultiplyVector(bp.angularVelocities[i]);
+
+                if (bp.invMasses != null && i < bp.invMasses.Length)
+                    m_Solver.invMasses[k] = bp.invMasses[i];
+
+                if (bp.invRotationalMasses != null && i < bp.invRotationalMasses.Length)
+                    m_Solver.invRotationalMasses[k] = bp.invRotationalMasses[i];
+
+                if (bp.principalRadii != null && i < bp.principalRadii.Length)
+                {
+                    Vector4 radii = bp.principalRadii[i];
+                    radii.w = i < sourceBlueprint.activeParticleCount ? 1 : 0;
+                    m_Solver.principalRadii[k] = radii;
+                }
+                else
+                {
+                    // need inactive emitter particles to zero as their flag.
+                    m_Solver.principalRadii[k] = Vector4.zero; 
+                }
+
+                if (bp.filters != null && i < bp.filters.Length)
+                    m_Solver.filters[k] = bp.filters[i];
+
+                if (bp.colors != null && i < bp.colors.Length)
+                    m_Solver.colors[k] = bp.colors[i];
+
+                m_Solver.phases[k] = ObiUtils.MakePhase(groupID, 0);
+            }
+
+            m_ActiveParticleCount = sourceBlueprint.activeParticleCount;
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtyDeformableTriangles = true;
+            m_Solver.dirtyDeformableEdges = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+            m_Solver.dirtyConstraints |= ~0;
+
+            // Push collision materials:
+            UpdateCollisionMaterials();
+
+        }
+
+        private void UnloadBlueprintParticles()
+        {
+            // Update active particles. 
+            m_ActiveParticleCount = 0;
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtyDeformableTriangles = true;
+            m_Solver.dirtyDeformableEdges = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+            m_Solver.dirtyConstraints |= ~0;
+        }
+
+        /// <summary>  
+        /// Resets the position and velocity of all particles, to the values stored in the blueprint.
+        /// </summary>  
+        /// Note however
+        /// that this does not affect constraints, so if you've torn a cloth/rope or resized a rope, calling ResetParticles won't restore
+        /// the initial topology of the actor.
+        public void ResetParticles()
+        {
+            if (isLoaded)
+            {
+                Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+                Quaternion l2sRotation = l2sTransform.rotation;
+
+                for (int i = 0; i < particleCount; ++i)
+                {
+                    int solverIndex = solverIndices[i];
+
+                    solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
+                    solver.velocities[solverIndex] = l2sTransform.MultiplyVector(sourceBlueprint.velocities[i]);
+
+                    if (usesOrientedParticles)
+                    {
+                        solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = l2sRotation * sourceBlueprint.orientations[i];
+                        solver.angularVelocities[solverIndex] = l2sTransform.MultiplyVector(sourceBlueprint.angularVelocities[i]);
+                    }
+                }
+            }
+        }
+
+        #endregion
+
+        #region State
+
+
+        /// <summary>  
+        /// Resets the position and velocity of all particles, to the values stored in the blueprint.
+        /// </summary>  
+        /// <param name="bp"> The blueprint that we want to fill with current particle data.</param>
+        /// Note that this will not resize the blueprint's data arrays, and that it does not perform range checking. For this reason,
+        /// you must supply a blueprint large enough to store all particles' data.
+        public bool SaveStateToBlueprint(ObiActorBlueprint bp)
+        {
+            if (bp == null || !m_Loaded)
+                return false;
+
+            Matrix4x4 l2sTransform = actorLocalToSolverMatrix.inverse;
+            Quaternion l2sRotation = l2sTransform.rotation;
+
+            // blueprint might have been regenerated, and reduced its size:
+            for (int i = 0; i < solverIndices.count; i++)
+            {
+                int k = solverIndices[i];
+
+                if (bp.positions != null && m_Solver.positions != null && k < m_Solver.positions.count && i < bp.positions.Length)
+                    bp.positions[i] = l2sTransform.MultiplyPoint3x4(m_Solver.positions[k]);
+
+                if (bp.velocities != null && m_Solver.velocities != null && k < m_Solver.velocities.count && i < bp.velocities.Length)
+                    bp.velocities[i] = l2sTransform.MultiplyVector(m_Solver.velocities[k]);
+            }
+
+            return true;
+        }
+
+        protected void StoreState()
+        {
+            DestroyImmediate(m_State);
+            m_State = Instantiate(sourceBlueprint);
+            SaveStateToBlueprint(m_State);
+        }
+
+        public void ClearState()
+        {
+            DestroyImmediate(m_State);
+        }
+
+        #endregion
+
+        #region Solver callbacks
+
+        /// <summary>  
+        /// Loads this actor's blueprint into a given solver. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary> 
+        public virtual void LoadBlueprint(ObiSolver solver)
+        {
+            var bp = sharedBlueprint;
+
+            // in case we have temporary state, load that instead of the original blueprint.
+            if (Application.isPlaying)
+            {
+                bp = m_State != null ? m_State : sourceBlueprint;
+            }
+
+            m_Loaded = true;
+
+            LoadBlueprintParticles(bp);
+
+            OnBlueprintLoaded?.Invoke(this, bp);
+        }
+
+        /// <summary>  
+        /// Unloads this actor's blueprint from a given solver. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary> 
+        public virtual void UnloadBlueprint(ObiSolver solver)
+        {
+            // instantiate blueprint and store current state in the instance:
+            if (Application.isPlaying)
+                StoreState();
+
+            m_Loaded = false;
+
+            // unload the blueprint.
+            UnloadBlueprintParticles();
+
+            OnBlueprintUnloaded?.Invoke(this, sharedBlueprint);
+        }
+
+        public virtual void SimulationStart(float timeToSimulate, float substepTime)
+        {
+            OnSimulationStart?.Invoke(this, timeToSimulate, substepTime);
+
+            // Apply any buffered forces/torques:
+            if (bufferedForces.dirty)
+            {
+                float mass = GetMass(out Vector3 com);
+
+                if (!float.IsInfinity(mass))
+                {
+                    Vector4 accum;
+                    foreach (var p in solverIndices)
+                    {
+                        accum = bufferedForces.force / m_Solver.invMasses[p] / mass;
+                        accum += bufferedForces.acceleration / m_Solver.invMasses[p];
+                        accum += bufferedForces.impulse / m_Solver.invMasses[p] / mass / timeToSimulate;
+                        accum += bufferedForces.velChange / m_Solver.invMasses[p] / timeToSimulate;
+                        m_Solver.externalForces[p] += accum;
+
+                        accum = bufferedForces.angularForce / m_Solver.invMasses[p] / mass;
+                        accum += bufferedForces.angularAcceleration / m_Solver.invMasses[p];
+                        accum += bufferedForces.angularImpulse / m_Solver.invMasses[p] / mass / timeToSimulate;
+                        accum += bufferedForces.angularVelChange / m_Solver.invMasses[p] / timeToSimulate;
+                        m_Solver.externalForces[p] += (Vector4)Vector3.Cross(accum, (Vector3)m_Solver.positions[p] - com);
+                    }
+                }
+
+                bufferedForces.Clear();
+            }
+        }
+
+        public virtual void SimulationEnd(float simulatedTime, float substepTime)
+        {
+
+        }
+
+        public virtual void RequestReadback()
+        {
+
+        }
+
+        public virtual void Interpolate(float simulatedTime, float substepTime)
+        {
+            // Update particle positions/orientations in the solver:
+            if (!Application.isPlaying && isLoaded)
+            {
+                Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+                Quaternion l2sRotation = l2sTransform.rotation;
+
+                for (int i = 0; i < solverIndices.count; i++)
+                {
+                    int k = solverIndices[i];
+
+                    if (sourceBlueprint.positions != null && i < sourceBlueprint.positions.Length) 
+                    {
+                        m_Solver.renderablePositions[k] = m_Solver.positions[k] = m_Solver.startPositions[k] = m_Solver.endPositions[k] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
+                    }
+
+                    if (sourceBlueprint.orientations != null && i < sourceBlueprint.orientations.Length)
+                    {
+                        m_Solver.renderableOrientations[k] = m_Solver.orientations[k] = m_Solver.startOrientations[k] = m_Solver.endOrientations[k] = l2sRotation * sourceBlueprint.orientations[i];
+                    }
+                }
+            }
+
+            OnInterpolate?.Invoke(this, simulatedTime, substepTime);
+        }
+
+        public virtual void OnSolverVisibilityChanged(bool visible)
+        {
+        }
+
+        #endregion
+
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta
new file mode 100644
index 00000000..2030a7c5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends.meta
new file mode 100644
index 00000000..22ad70e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8c24459c92f72479e883a382c415ea21
+folderAsset: yes
+DefaultImporter:
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+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst.meta
new file mode 100644
index 00000000..018fd9d4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0ccea30afd7eb40d988c19314f42b11c
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
new file mode 100644
index 00000000..6a94fc9d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Collections;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstBackend : IObiBackend
+    {
+        #region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new BurstSolverImpl(solver);
+        }
+        public void DestroySolver(ISolverImpl  solver)
+        {
+            if (solver != null)
+                solver.Destroy();
+        }
+        #endregion
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta
new file mode 100644
index 00000000..0fa2befc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e3c1f86ca79494b9198874007d195a38
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
new file mode 100644
index 00000000..baaa099a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
@@ -0,0 +1,48 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+
+using Unity.Mathematics;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+    public static class BurstIntegration
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 IntegrateLinear(float4 position, float4 velocity, float dt)
+        {
+            return position + velocity * dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
+        {
+            return (position - prevPosition) / dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
+        {
+            var delta = new quaternion(angularVelocity.x,
+                                       angularVelocity.y,
+                                       angularVelocity.z, 0);
+
+            return new quaternion(0.5f * math.mul(delta,rotation).value * dt); 
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
+        {
+            rotation.value += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt).value;
+            return math.normalize(rotation);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
+        {
+            quaternion deltaq = math.mul(rotation, math.inverse(prevRotation));
+            float sign = deltaq.value.w >= 0 ? 1 : -1;
+            return new float4(sign * deltaq.value.xyz * 2.0f / dt, 0);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta
new file mode 100644
index 00000000..a4dbd114
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta
@@ -0,0 +1,11 @@
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+guid: ba69cdb85ae0f4523810cb349ded03d5
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
new file mode 100644
index 00000000..df3caa35
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
@@ -0,0 +1,22 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class BurstJobHandle : IObiJobHandle
+    {
+        public JobHandle jobHandle { get; set; } = new JobHandle();
+
+        public void Complete()
+        {
+            jobHandle.Complete();
+        }
+
+        public void Release()
+        {
+            jobHandle = new JobHandle();
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta
new file mode 100644
index 00000000..dc7d643a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dc827231eb963458fad0d395a186f910
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
new file mode 100644
index 00000000..ec9df31d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
@@ -0,0 +1,1023 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Runtime.CompilerServices;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Threading;
+
+namespace Obi
+{
+    public static class BurstMath
+    {
+
+        public const float epsilon = 0.0000001f;
+        public const float zero = 0;
+        public const float one = 1;
+        public static readonly float golden = (math.sqrt(5.0f) + 1) / 2.0f;
+
+        public static unsafe void AddRange<T, U>(this NativeList<T> dst, U[] array) where T : unmanaged where U : unmanaged
+        {
+            var tsize = sizeof(T);
+            var usize = sizeof(U);
+
+            if (tsize == usize)
+            {
+                int dstIndex = dst.Length;
+                dst.ResizeUninitialized(dst.Length + array.Length);
+
+                fixed (U* srcPtr = array)
+                {
+                    var dstPtr = (T*)dst.GetUnsafePtr() + dstIndex;
+                    UnsafeUtility.MemCpy(dstPtr, srcPtr, usize * array.Length);
+                }
+            }
+        }
+
+        public static unsafe void AddReplicate<T, U>(this NativeList<T> dst, U value, int length) where T : unmanaged where U : unmanaged
+        {
+            var tsize = sizeof(T);
+            var usize = sizeof(U);
+
+            if (tsize == usize)
+            {
+                int dstIndex = dst.Length;
+                dst.ResizeUninitialized(dst.Length + length);
+
+                var dstPtr = (T*)dst.GetUnsafePtr() + dstIndex;
+                var srcPtr = UnsafeUtility.AddressOf(ref value);
+                UnsafeUtility.MemCpyReplicate(dstPtr, srcPtr, tsize, length);
+            }
+        }
+
+        public static float AtomicAdd(ref float location, float value)
+        {
+            float newCurrentValue = location;
+            while (true)
+            {
+                float currentValue = newCurrentValue;
+                float newValue = currentValue + value;
+                newCurrentValue = Interlocked.CompareExchange(ref location, newValue, currentValue);
+                if (newCurrentValue.Equals(currentValue))
+                    return newValue;
+            }
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public unsafe static void AtomicAdd(NativeArray<float4> array, int p, float4 data)
+        {
+            float4* arr = (float4*)array.GetUnsafePtr();
+            AtomicAdd(ref arr[p].x, data.x);
+            AtomicAdd(ref arr[p].y, data.y);
+            AtomicAdd(ref arr[p].z, data.z);
+            AtomicAdd(ref arr[p].w, data.w);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public unsafe static void AtomicAdd(NativeArray<float> array, int p, float data)
+        {
+            float* arr = (float*)array.GetUnsafePtr();
+            AtomicAdd(ref arr[p], data);
+        }
+
+        // multiplies a column vector by a row vector.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float3x3 multrnsp(in float4 column, in float4 row)
+        {
+            return new float3x3(column.xyz * row[0], column.xyz * row[1], column.xyz * row[2]);
+        }
+
+        // multiplies a column vector by a row vector.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 multrnsp4(in float4 column, float4 row)
+        {
+            row[3] = 0;
+            return new float4x4(column * row[0], column * row[1], column * row[2], float4.zero);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 project(this float4 vector, float4 onto)
+        {
+            float len = math.lengthsq(onto);
+            if (len < epsilon)
+                return float4.zero;
+            return math.dot(onto, vector) * onto / len;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float3 project(this float3 vector, float3 onto)
+        {
+            float len = math.lengthsq(onto);
+            if (len < epsilon)
+                return float3.zero;
+            return math.dot(onto, vector) * onto / len;
+        }
+
+        /*[MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetInvParticleInertiaTensor(float4 principalRadii, float invRotationalMass)
+        {
+            float4 sqrRadii = principalRadii * principalRadii;
+            return new float4(5 * invRotationalMass / math.max(new float3(sqrRadii[1] + sqrRadii[2],
+                                                                          sqrRadii[0] + sqrRadii[2],
+                                                                          sqrRadii[0] + sqrRadii[1]), epsilon), 0);
+        }*/
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleInertiaTensor(float4 principalRadii, float invRotationalMass)
+        {
+            float4 sqrRadii = principalRadii * principalRadii;
+            return 0.2f / (invRotationalMass + epsilon) * new float4(sqrRadii[1] + sqrRadii[2],
+                                                                     sqrRadii[0] + sqrRadii[2],
+                                                                     sqrRadii[0] + sqrRadii[1], 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 TransformInertiaTensor(float4 tensor, quaternion rotation)
+        {
+            float4x4 rotMatrix = rotation.toMatrix();
+            return math.mul(rotMatrix, math.mul(tensor.asDiagonal(), math.transpose(rotMatrix)));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float RotationalInvMass(float4x4 inverseInertiaTensor, float4 point, float4 direction)
+        {
+            float4 cr = math.mul(inverseInertiaTensor, new float4(math.cross(point.xyz, direction.xyz), 0));
+            return math.dot(math.cross(cr.xyz, point.xyz), direction.xyz);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleVelocityAtPoint(float4 position, float4 prevPosition, float4 point, float dt)
+        {
+            // no angular velocity, so calculate and return linear velocity only:
+            return BurstIntegration.DifferentiateLinear(position, prevPosition, dt);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleVelocityAtPoint(float4 position, float4 prevPosition, quaternion orientation, quaternion prevOrientation, float4 point, float dt)
+        {
+            // calculate both linear and angular velocities:
+            float4 linearVelocity = BurstIntegration.DifferentiateLinear(position, prevPosition, dt);
+            float4 angularVelocity = BurstIntegration.DifferentiateAngular(orientation, prevOrientation, dt);
+            return linearVelocity + new float4(math.cross(angularVelocity.xyz, (point - prevPosition).xyz), 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
+                                                         float4 point,
+                                                         NativeArray<BurstRigidbody> rigidbodies,
+                                                         NativeArray<float4> linearDeltas,
+                                                         NativeArray<float4> angularDeltas,
+                                                         BurstInertialFrame solverToWorld) 
+        {
+            float4 linear  = rigidbodies[rigidbodyIndex].velocity + linearDeltas[rigidbodyIndex];
+            float4 angular = rigidbodies[rigidbodyIndex].angularVelocity + angularDeltas[rigidbodyIndex];
+            float4 r = solverToWorld.frame.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+
+            // calculate rigidbody velocity:
+            float4 wsRigidbodyVelocity = linear + new float4(math.cross(angular.xyz, r.xyz), 0);
+
+            // calculate solver velocity:
+            float4 wsSolverVelocity = solverToWorld.velocity + new float4(math.cross(solverToWorld.angularVelocity.xyz, point.xyz), 0);
+
+            // convert the resulting velocity back to solver space:
+            return solverToWorld.frame.InverseTransformVector(wsRigidbodyVelocity - wsSolverVelocity);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
+                                                         float4 point,
+                                                         NativeArray<BurstRigidbody> rigidbodies,
+                                                         BurstInertialFrame solverToWorld)
+        {
+            float4 linear = rigidbodies[rigidbodyIndex].velocity;
+            float4 angular = rigidbodies[rigidbodyIndex].angularVelocity;
+            float4 r = solverToWorld.frame.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+
+            // calculate rigidbody velocity:
+            float4 wsRigidbodyVelocity = linear + new float4(math.cross(angular.xyz, r.xyz), 0);
+
+            // calculate solver velocity:
+            float4 wsSolverVelocity = solverToWorld.velocity + new float4(math.cross(solverToWorld.angularVelocity.xyz, point.xyz), 0);
+
+            // Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
+            // point to world space, and convert the resulting velocity back to solver space.
+            return solverToWorld.frame.InverseTransformVector(wsRigidbodyVelocity - wsSolverVelocity);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ApplyImpulse(int rigidbodyIndex,
+                                        float4 impulse,
+                                        float4 point,
+                                        NativeArray<BurstRigidbody> rigidbodies,
+                                        NativeArray<float4> linearDeltas,
+                                        NativeArray<float4> angularDeltas,
+                                        BurstAffineTransform solverToWorld)
+        {
+            float4 impulseWS = solverToWorld.TransformVector(impulse);
+            float4 r = solverToWorld.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+
+            float4 linearDelta = rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
+            float4 angularDelta = math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(r.xyz, impulseWS.xyz), 0));
+
+            AtomicAdd(linearDeltas, rigidbodyIndex, linearDelta);
+            AtomicAdd(angularDeltas, rigidbodyIndex, angularDelta);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ApplyDeltaQuaternion(int rigidbodyIndex,
+                                                quaternion rotation,
+                                                quaternion delta,
+                                                NativeArray<float4> angularDeltas,
+                                                BurstAffineTransform solverToWorld,
+                                                float dt)
+        {
+            quaternion rotationWS = math.mul(solverToWorld.rotation, rotation);
+            quaternion deltaWS = math.mul(solverToWorld.rotation, delta);
+
+            // convert quaternion delta to angular acceleration:
+            quaternion newRotation = math.normalize(new quaternion(rotationWS.value + deltaWS.value));
+            AtomicAdd(angularDeltas, rigidbodyIndex, BurstIntegration.DifferentiateAngular(newRotation, rotationWS, dt));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void OneSidedNormal(float4 forward, ref float4 normal)
+        {
+            float dot = math.dot(normal.xyz, forward.xyz);
+            if (dot < 0) normal -= 2 * dot * forward;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float EllipsoidRadius(float4 normSolverDirection, quaternion orientation, float3 radii)
+        {
+            float3 localDir = math.mul(math.conjugate(orientation), normSolverDirection.xyz);
+            float sqrNorm = math.lengthsq(localDir / radii);
+            return sqrNorm > epsilon ? math.sqrt(1 / sqrNorm) : radii.x;
+        }
+
+        public static quaternion ExtractRotation(float4x4 matrix, quaternion rotation, int iterations)
+        {
+            return ExtractRotation((float3x3)matrix, rotation, iterations);
+        }
+
+        public static quaternion ExtractRotation(float3x3 matrix, quaternion rotation, int iterations)
+        {
+            float3x3 R;
+            for (int i = 0; i < iterations; ++i)
+            {
+                R = rotation.toMatrix3();
+                float3 omega = (math.cross(R.c0, matrix.c0) + math.cross(R.c1, matrix.c1) + math.cross(R.c2, matrix.c2)) /
+                               (math.abs(math.dot(R.c0, matrix.c0) + math.dot(R.c1, matrix.c1) + math.dot(R.c2, matrix.c2)) + epsilon);
+
+                float w = math.length(omega);
+                if (w < epsilon)
+                    break;
+
+                rotation = math.normalize(math.mul(quaternion.AxisAngle((1.0f / w) * omega, w), rotation));
+            }
+            return rotation;
+        }
+
+        // decomposes a quaternion in swing and twist around a given axis:
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void SwingTwist(quaternion q, float3 twistAxis, out quaternion swing, out quaternion twist)
+        {
+            float dot = math.dot(q.value.xyz, twistAxis);
+            float3 p = twistAxis * dot;
+            twist = math.normalizesafe(new quaternion(p[0], p[1], p[2], q.value.w));
+            swing = math.mul(q, math.conjugate(twist));
+        }
+
+        public static float4x4 toMatrix(this quaternion q)
+        {
+            float xx = q.value.x * q.value.x;
+            float xy = q.value.x * q.value.y;
+            float xz = q.value.x * q.value.z;
+            float xw = q.value.x * q.value.w;
+
+            float yy = q.value.y * q.value.y;
+            float yz = q.value.y * q.value.z;
+            float yw = q.value.y * q.value.w;
+
+            float zz = q.value.z * q.value.z;
+            float zw = q.value.z * q.value.w;
+
+            return new float4x4(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw), 0,
+                                2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw), 0,
+                                2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy), 0,
+                                0, 0, 0, 1);
+        }
+
+        public static float3x3 toMatrix3(this quaternion q)
+        {
+            float xx = q.value.x * q.value.x;
+            float xy = q.value.x * q.value.y;
+            float xz = q.value.x * q.value.z;
+            float xw = q.value.x * q.value.w;
+
+            float yy = q.value.y * q.value.y;
+            float yz = q.value.y * q.value.z;
+            float yw = q.value.y * q.value.w;
+
+            float zz = q.value.z * q.value.z;
+            float zw = q.value.z * q.value.w;
+
+            return new float3x3(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw),
+                                2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw),
+                                2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 asDiagonal(this float4 v)
+        {
+            return new float4x4(v.x, 0, 0, 0,
+                                0, v.y, 0, 0,
+                                0, 0, v.z, 0,
+                                0, 0, 0, v.w);
+        }
+
+        /**
         * Modulo operator that also follows intuition for negative arguments. That is , -1 mod 3 = 2, not -1.
         */
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float3 nfmod(float3 a, float3 b)
        {
            return a - b * math.floor(a / b);
        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 diagonal(this float4x4 value)
+        {
+            return new float4(value.c0[0], value.c1[1], value.c2[2], value.c3[3]);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float frobeniusNorm(this float4x4 m)
+        {
+            return math.sqrt(math.lengthsq(m.c0) + math.lengthsq(m.c1) + math.lengthsq(m.c2) + math.lengthsq(m.c3));
+        }
+
+        public static void EigenSolve(float3x3 D, out float3 S, out float3x3 V)
+        {
+            // D is symmetric
+            // S is a vector whose elements are eigenvalues
+            // V is a matrix whose columns are eigenvectors
+            S = EigenValues(D);
+            float3 V0, V1, V2;
+
+            if (S[0] - S[1] > S[1] - S[2])
+            {
+                V0 = EigenVector(D, S[0]);
+                if (S[1] - S[2] < math.FLT_MIN_NORMAL)
+                {
+                    V2 = V0.unitOrthogonal();
+                }
+                else
+                {
+                    V2 = EigenVector(D, S[2]); V2 -= V0 * math.dot(V0, V2); V2 = math.normalize(V2);
+                }
+                V1 = math.cross(V2, V0);
+            }
+            else
+            {
+                V2 = EigenVector(D, S[2]);
+                if (S[0] - S[1] < math.FLT_MIN_NORMAL)
+                {
+                    V1 = V2.unitOrthogonal();
+                }
+                else
+                {
+                    V1 = EigenVector(D, S[1]); V1 -= V2 * math.dot(V2, V1); V1 = math.normalize(V1);
+                }
+                V0 = math.cross(V1, V2);
+            }
+
+            V.c0 = V0;
+            V.c1 = V1;
+            V.c2 = V2;
+        }
+
+        static float3 unitOrthogonal(this float3 input)
+        {
+            // Find a vector to cross() the input with.
+            if (!(input.x < input.z * epsilon)
+            || !(input.y < input.z * epsilon))
+            {
+                float invnm = 1 / math.length(input.xy);
+                return new float3(-input.y * invnm, input.x * invnm, 0);
+            }
+            else
+            {
+                float invnm = 1 / math.length(input.yz);
+                return new float3(0, -input.z * invnm, input.y * invnm);
+            }
+        }
+
+        // D is symmetric, S is an eigen value
+        static float3 EigenVector(float3x3 D, float S)
+        {
+            // Compute a cofactor matrix of D - sI.
+            float3 c0 = D.c0; c0[0] -= S;
+            float3 c1 = D.c1; c1[1] -= S;
+            float3 c2 = D.c2; c2[2] -= S;
+
+            // Upper triangular matrix
+            float3 c0p = new float3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
+            float3 c1p = new float3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
+            float3 c2p = new float3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);
+
+            // Get a column vector with a largest norm (non-zero).
+            float C01s = c1p[0] * c1p[0];
+            float C02s = c2p[0] * c2p[0];
+            float C12s = c2p[1] * c2p[1];
+            float3 norm = new float3(c0p[0] * c0p[0] + C01s + C02s,
+                                     C01s + c1p[1] * c1p[1] + C12s,
+                                     C02s + C12s + c2p[2] * c2p[2]);
+
+            // index of largest:
+            int index = 0;
+            if (norm[0] > norm[1] && norm[0] > norm[2])
+                index = 0;
+            else if (norm[1] > norm[0] && norm[1] > norm[2])
+                index = 1;
+            else
+                index = 2;
+
+            float3 V = float3.zero;
+
+            // special case
+            if (norm[index] < math.FLT_MIN_NORMAL)
+            {
+                V[0] = 1; return V;
+            }
+
+            if (index == 0)
+            {
+                V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
+            }
+            else if (index == 1)
+            {
+                V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
+            }
+            else
+            {
+                V = c2p;
+            }
+            return math.normalize(V);
+        }
+
+        static float3 EigenValues(float3x3 D)
+        {
+            float one_third = 1 / 3.0f;
+            float one_sixth = 1 / 6.0f;
+            float three_sqrt = math.sqrt(3.0f);
+
+            float3 c0 = D.c0;
+            float3 c1 = D.c1;
+            float3 c2 = D.c2;
+
+            float m = one_third * (c0[0] + c1[1] + c2[2]);
+
+            // K is D - I*diag(S)
+            float K00 = c0[0] - m;
+            float K11 = c1[1] - m;
+            float K22 = c2[2] - m;
+
+            float K01s = c1[0] * c1[0];
+            float K02s = c2[0] * c2[0];
+            float K12s = c2[1] * c2[1];
+
+            float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
+            float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));
+
+            float p_sqrt = math.sqrt(p);
+
+            float tmp = p * p * p - q * q;
+            float phi = one_third * math.atan2(math.sqrt(math.max(0, tmp)), q);
+            float phi_c = math.cos(phi);
+            float phi_s = math.sin(phi);
+            float sqrt_p_c_phi = p_sqrt * phi_c;
+            float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;
+
+            float e0 = m + 2 * sqrt_p_c_phi;
+            float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
+            float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;
+
+            float aux;
+            if (e0 > e1)
+            {
+                aux = e0;
+                e0 = e1;
+                e1 = aux;
+            }
+            if (e0 > e2)
+            {
+                aux = e0;
+                e0 = e2;
+                e2 = aux;
+            }
+            if (e1 > e2)
+            {
+                aux = e1;
+                e1 = e2;
+                e2 = aux;
+            }
+
+            return new float3(e2, e1, e0);
+        }
+
+        public struct CachedTri
+        {
+            public float4 vertex;
+            public float4 edge0;
+            public float4 edge1;
+            public float4 data;
+
+            public void Cache(float4 v1,
+                              float4 v2,
+                              float4 v3)
+            {
+                vertex = v1;
+                edge0 = v2 - v1;
+                edge1 = v3 - v1;
+                data = float4.zero;
+                data[0] = math.dot(edge0, edge0);
+                data[1] = math.dot(edge0, edge1);
+                data[2] = math.dot(edge1, edge1);
+                data[3] = data[0] * data[2] - data[1] * data[1];
+            }
+        }
+
+        public static float4 NearestPointOnTri(in CachedTri tri,
+                                               float4 p,
+                                               out float4 bary)
+        {
+            float4 v0 = tri.vertex - p;
+            float b0 = math.dot(tri.edge0, v0);
+            float b1 = math.dot(tri.edge1, v0);
+            float t0 = tri.data[1] * b1 - tri.data[2] * b0;
+            float t1 = tri.data[1] * b0 - tri.data[0] * b1;
+
+            if (t0 + t1 <= tri.data[3])
+            {
+                if (t0 < zero)
+                {
+                    if (t1 < zero)  // region 4
+                    {
+                        if (b0 < zero)
+                        {
+                            t1 = zero;
+                            if (-b0 >= tri.data[0])  // V0
+                                t0 = one;
+                            else  // E01
+                                t0 = -b0 / tri.data[0];
+                        }
+                        else
+                        {
+                            t0 = zero;
+                            if (b1 >= zero)  // V0
+                                t1 = zero;
+                            else if (-b1 >= tri.data[2])  // V2
+                                t1 = one;
+                            else  // E20
+                                t1 = -b1 / tri.data[2];
+                        }
+                    }
+                    else  // region 3
+                    {
+                        t0 = zero;
+                        if (b1 >= zero)  // V0
+                            t1 = zero;
+                        else if (-b1 >= tri.data[2])  // V2
+                            t1 = one;
+                        else  // E20
+                            t1 = -b1 / tri.data[2];
+                    }
+                }
+                else if (t1 < zero)  // region 5
+                {
+                    t1 = zero;
+                    if (b0 >= zero)  // V0
+                        t0 = zero;
+                    else if (-b0 >= tri.data[0])  // V1
+                        t0 = one;
+                    else  // E01
+                        t0 = -b0 / tri.data[0];
+                }
+                else  // region 0, interior
+                {
+                    float invDet = one / tri.data[3];
+                    t0 *= invDet;
+                    t1 *= invDet;
+                }
+            }
+            else
+            {
+                float tmp0, tmp1, numer, denom;
+
+                if (t0 < zero)  // region 2
+                {
+                    tmp0 = tri.data[1] + b0;
+                    tmp1 = tri.data[2] + b1;
+                    if (tmp1 > tmp0)
+                    {
+                        numer = tmp1 - tmp0;
+                        denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                        if (numer >= denom)  // V1
+                        {
+                            t0 = one;
+                            t1 = zero;
+                        }
+                        else  // E12
+                        {
+                            t0 = numer / denom;
+                            t1 = one - t0;
+                        }
+                    }
+                    else
+                    {
+                        t0 = zero;
+                        if (tmp1 <= zero)  // V2
+                            t1 = one;
+                        else if (b1 >= zero)  // V0
+                            t1 = zero;
+                        else  // E20
+                            t1 = -b1 / tri.data[2];
+                    }
+                }
+                else if (t1 < zero)  // region 6
+                {
+                    tmp0 = tri.data[1] + b1;
+                    tmp1 = tri.data[0] + b0;
+                    if (tmp1 > tmp0)
+                    {
+                        numer = tmp1 - tmp0;
+                        denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                        if (numer >= denom)  // V2
+                        {
+                            t1 = one;
+                            t0 = zero;
+                        }
+                        else  // E12
+                        {
+                            t1 = numer / denom;
+                            t0 = one - t1;
+                        }
+                    }
+                    else
+                    {
+                        t1 = zero;
+                        if (tmp1 <= zero)  // V1
+                            t0 = one;
+                        else if (b0 >= zero)  // V0
+                            t0 = zero;
+                        else  // E01
+                            t0 = -b0 / tri.data[0];
+                    }
+                }
+                else  // region 1
+                {
+                    numer = tri.data[2] + b1 - tri.data[1] - b0;
+                    if (numer <= zero)  // V2
+                    {
+                        t0 = zero;
+                        t1 = one;
+                    }
+                    else
+                    {
+                        denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                        if (numer >= denom)  // V1
+                        {
+                            t0 = one;
+                            t1 = zero;
+                        }
+                        else  // 12
+                        {
+                            t0 = numer / denom;
+                            t1 = one - t0;
+                        }
+                    }
+                }
+            }
+
+            bary = new float4(1 - (t0 + t1), t0, t1,0);
+            return tri.vertex + t0 * tri.edge0 + t1 * tri.edge1;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 NearestPointOnEdge(float4 a, float4 b, float4 p, out float mu, bool clampToSegment = true)
+        {
+            float4 ap = p - a;
+            float4 ab = b - a;
+
+            mu = math.dot(ap, ab) / math.dot(ab, ab);
+
+            if (clampToSegment)
+                mu = math.saturate(mu);
+
+            return a + ab * mu;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float3 NearestPointOnEdge(float3 a, float3 b, float3 p, out float mu, bool clampToSegment = true)
+        {
+            float3 ap = p - a;
+            float3 ab = b - a;
+
+            mu = math.dot(ap, ab) / math.dot(ab, ab);
+
+            if (clampToSegment)
+                mu = math.saturate(mu);
+
+            return a + ab * mu;
+        }
+
+        public static float4 NearestPointsTwoEdges(float4 a, float4 b, float4 c, float4 d, out float mu1, out float mu2)
+        {
+            float4 dc = d - c;
+            float lineDirSqrMag = math.dot(dc, dc);
+            float4 inPlaneA = a - (math.dot(a - c, dc) / lineDirSqrMag * dc);
+            float4 inPlaneB = b - (math.dot(b - c, dc) / lineDirSqrMag * dc);
+
+            float4 inPlaneBA = inPlaneB - inPlaneA;
+            float t = math.dot(c - inPlaneA, inPlaneBA) / math.dot(inPlaneBA, inPlaneBA);
+
+            //t = (inPlaneA != inPlaneB) ? t : 0f; // Zero's t if parallel
+            float4 segABtoLineCD = math.lerp(a, b, math.saturate(t));
+
+            float4 segCDtoSegAB = NearestPointOnEdge(c, d, segABtoLineCD, out mu1);
+            float4 segABtoSegCD = NearestPointOnEdge(a, b, segCDtoSegAB, out mu2);
+
+            return segCDtoSegAB;
+        }
+
+        public static float4 BaryCoords(in float4 A,
+                                        in float4 B,
+                                        in float4 C,
+                                        in float4 P)
+        {
+
+            // Compute vectors
+            float4 v0 = C - A;
+            float4 v1 = B - A;
+            float4 v2 = P - A;
+
+            // Compute dot products
+            float dot00 = math.dot(v0, v0);
+            float dot01 = math.dot(v0, v1);
+            float dot02 = math.dot(v0, v2);
+            float dot11 = math.dot(v1, v1);
+            float dot12 = math.dot(v1, v2);
+
+            // Compute barycentric coordinates
+            float det = dot00 * dot11 - dot01 * dot01;
+            if (math.abs(det) > epsilon)
+            {
+                float u = (dot11 * dot02 - dot01 * dot12) / det;
+                float v = (dot00 * dot12 - dot01 * dot02) / det;
+                return new float4(1 - u - v, v, u, 0);
+            }
+            return float4.zero;
+
+        }
+
+        public static float4 BaryCoords2(in float4 A,
+                                         in float4 B,
+                                         in float4 P)
+        {
+            float4 v0 = P - A;
+            float4 v1 = B - A;
+            float y = math.sqrt(math.dot(v0, v0) / (math.dot(v1, v1) + epsilon));
+            return new float4(1 - y, y, 0, 0);
+        }
+
+        public static float4 BaryIntrpl(in float4 p1, in float4 p2, in float4 p3, in float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
+        }
+
+        public static float4 BaryIntrpl(in float4 p1, in float4 p2, in float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2;
+        }
+
+        public static float BaryIntrpl(float p1, float p2, float p3, float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
+        }
+
+        public static float BaryIntrpl(float p1, float p2, float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float BaryScale(float4 coords)
+        {
+            return 1.0f / math.dot(coords, coords);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 BarycenterForSimplexOfSize(int simplexSize)
+        {
+            float value = 1f / simplexSize;
+            float4 center = float4.zero;
+            for (int i = 0; i < simplexSize; ++i)
+                center[i] = value;
+            return center;
+        }
+
+        // https://fgiesen.wordpress.com/2009/12/13/decoding-morton-codes/
+
+        // "Insert" a 0 bit after each of the 16 low bits of x
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Part1By1(uint x)
+        {
+            x &= 0x0000ffff;                  // x = ---- ---- ---- ---- fedc ba98 7654 3210
+            x = (x ^ (x << 8)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+            x = (x ^ (x << 4)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+            x = (x ^ (x << 2)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+            x = (x ^ (x << 1)) & 0x55555555; // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+            return x;
+        }
+
+
+        // "Insert" two 0 bits after each of the 10 low bits of x
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Part1By2(uint x)
+        {
+            x &= 0x000003ff;                  // x = ---- ---- ---- ---- ---- --98 7654 3210
+            x = (x ^ (x << 16)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+            x = (x ^ (x << 8)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+            x = (x ^ (x << 4)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+            x = (x ^ (x << 2)) & 0x09249249; // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+            return x;
+        }
+
+        // Inverse of Part1By1 - "delete" all odd-indexed bits
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Compact1By1(uint x)
+        {
+            x &= 0x55555555;                  // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+            x = (x ^ (x >> 1)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+            x = (x ^ (x >> 2)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+            x = (x ^ (x >> 4)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+            x = (x ^ (x >> 8)) & 0x0000ffff; // x = ---- ---- ---- ---- fedc ba98 7654 3210
+            return x;
+        }
+
+        // Inverse of Part1By2 - "delete" all bits not at positions divisible by 3
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Compact1By2(uint x)
+        {
+            x &= 0x09249249;                  // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+            x = (x ^ (x >> 2)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+            x = (x ^ (x >> 4)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+            x = (x ^ (x >> 8)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+            x = (x ^ (x >> 16)) & 0x000003ff; // x = ---- ---- ---- ---- ---- --98 7654 3210
+            return x;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint EncodeMorton2(uint2 coords)
+        {
+            return (Part1By1(coords.y) << 1) + Part1By1(coords.x);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint EncodeMorton3(uint3 coords)
+        {
+            return (Part1By2(coords.z) << 2) + (Part1By2(coords.y) << 1) + Part1By2(coords.x);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint3 DecodeMorton2(uint code)
+        {
+            return new uint3(Compact1By1(code >> 0), Compact1By1(code >> 1), 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint3 DecodeMorton3(uint code)
+        {
+            return new uint3(Compact1By2(code >> 0), Compact1By2(code >> 1), Compact1By2(code >> 2));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 UnpackFloatRGBA(float v)
+        {
+            uint rgba = math.asuint(v);
+            float r = ((rgba & 0xff000000) >> 24) / 255f;
+            float g = ((rgba & 0x00ff0000) >> 16) / 255f;
+            float b = ((rgba & 0x0000ff00) >> 8) / 255f;
+            float a = (rgba & 0x000000ff) / 255f;
+            return new float4(r, g, b, a);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float PackFloatRGBA(float4 enc)
+        {
+            uint rgba = ((uint)(enc.x * 255f) << 24) +
+                        ((uint)(enc.y * 255f) << 16) +
+                        ((uint)(enc.z * 255f) << 8) +
+                        (uint)(enc.w * 255f);
+            return math.asfloat(rgba);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float2 UnpackFloatRG(float v)
+        {
+            uint rgba = math.asuint(v);
+            float r = ((rgba & 0xffff0000) >> 16) / 65535f;
+            float g = (rgba & 0x0000ffff) / 65535f;
+            return new float2(r, g);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float PackFloatRG(float2 enc)
+        {
+            uint rgba = ((uint)(enc.x * 65535f) << 16) +
+                        (uint)(enc.y * 65535f);
+            return math.asfloat(rgba);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        static float2 OctWrap(float2 v)
+        {
+            return (1.0f - math.abs(v.yx)) * new float2(v.x >= 0.0f ? 1.0f : -1.0f, v.y >= 0.0f ? 1.0f : -1.0f);
+        }
+
+        // use octahedral encoding to reduce to 2 coords, then pack them as two 16 bit values in a 32 bit float.
+        public static float OctEncode(float3 n)
+        {
+            n /= math.abs(n.x) + math.abs(n.y) + math.abs(n.z);
+            n.xy = n.z >= 0.0 ? n.xy : OctWrap(n.xy);
+            n.xy = n.xy * 0.5f + 0.5f;
+
+            uint nx = (uint)(n.x * 0xffff);
+            uint ny = (uint)(n.y * 0xffff);
+            return math.asfloat((nx << 16) | (ny & 0xffff));
+        }
+
+        public static float3 OctDecode(float k)
+        {
+            uint d = math.asuint(k);
+            float2 f = new float2((d >> 16) / 65535f, (d & 0xffff) / 65535f) * 2f - 1f;
+
+            float3 n = new float3(f.x, f.y, 1.0f - math.abs(f.x) - math.abs(f.y));
+            float t = math.saturate(-n.z);
+            n.x += n.x >= 0.0f ? -t : t;
+            n.y += n.y >= 0.0f ? -t : t;
+            return math.normalize(n);
+        }
+
+        public static float Remap01(float value, float min_, float max_)
+        {
+            return (math.min(value, max_) - math.min(value, min_)) / (max_ - min_);
+        }
+
+        public static float3 Sort(this float3 f)
+        {
+            float aux;
+            if (f.x > f.y)
+            {
+                aux = f.x;
+                f.x = f.y;
+                f.y = aux;
+            }
+            if (f.x > f.z)
+            {
+                aux = f.x;
+                f.x = f.z;
+                f.z = aux;
+            }
+            if (f.y > f.z)
+            {
+                aux = f.y;
+                f.y = f.z;
+                f.z = aux;
+            }
+            return new float3(f.z,f.y,f.x);
+        }
+
+        public static unsafe void RemoveRangeBurst<T>(this NativeList<T> list, int index, int count)
+            where T : unmanaged
+        {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            if ((uint)index >= (uint)list.Length)
+            {
+                throw new IndexOutOfRangeException(
+                    $"Index {index} is out of range in NativeList of '{list.Length}' Length.");
+            }
+#endif
+
+            int elemSize = UnsafeUtility.SizeOf<T>();
+            byte* basePtr = (byte*)list.GetUnsafePtr();
+
+            UnsafeUtility.MemMove(basePtr + (index * elemSize), basePtr + ((index + count) * elemSize), elemSize * (list.Length - count - index));
+
+            // No easy way to change length so we just loop this unfortunately.
+            for (var i = 0; i < count; i++)
+            {
+                list.RemoveAtSwapBack(list.Length - 1);
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta
new file mode 100644
index 00000000..5b662b68
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta
new file mode 100644
index 00000000..7f66f592
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 71085a94c3367475ab31b12e483c6479
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
new file mode 100644
index 00000000..44adb2fe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
@@ -0,0 +1,155 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstBox : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            float4 size = shape.size * colliderToSolver.scale * 0.5f;
+
+            // clamp the point to the surface of the box:
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            // get minimum distance for each axis:
+            float4 distances = size - math.abs(point);
+
+            if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+            {
+                // find minimum distance in all three axes and the axis index:
+                float min = float.MaxValue;
+                int axis = 0;
+
+                for (int i = 0; i < 3; ++i)
+                {
+                    if (distances[i] < min)
+                    {
+                        min = distances[i];
+                        axis = i;
+                    }
+                }
+
+                projectedPoint.normal = float4.zero;
+                projectedPoint.point = point;
+
+                projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
+                projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
+            }
+            else
+            {
+                projectedPoint.point = math.clamp(point, -size, size);
+                projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+            }
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Box + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Box];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateBoxContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Box]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateBoxContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstBox shape = new BurstBox { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            contactsQueue.Enqueue(new BurstContact
+            {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta
new file mode 100644
index 00000000..5a84d9cd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta
@@ -0,0 +1,11 @@
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+guid: f09926d9bc8604475a3bce5e593165b4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
new file mode 100644
index 00000000..c66e8df3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
@@ -0,0 +1,136 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            int direction = (int)shape.size.z;
+            float radius = shape.size.x * math.max(colliderToSolver.scale[(direction + 1) % 3],
+                                                   colliderToSolver.scale[(direction + 2) % 3]);
+
+            float height = math.max(radius, shape.size.y * 0.5f * colliderToSolver.scale[direction]);
+            float4 halfVector = float4.zero;
+            halfVector[direction] = height - radius;
+
+            float4 centerLine = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
+            float4 centerToPoint = point - centerLine;
+            float distanceToCenter = math.length(centerToPoint);
+
+            float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + shape.contactOffset));
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Capsule + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Capsule];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateCapsuleContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Capsule]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateCapsuleContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstCapsule shape = new BurstCapsule { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            contactsQueue.Enqueue(new BurstContact
+            {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta
new file mode 100644
index 00000000..e75f1676
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 30a6f80040171467eb7e40b869d0aa44
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
new file mode 100644
index 00000000..88c580a4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
@@ -0,0 +1,41 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+
+    public struct BurstColliderShape
+    {
+        public float4 center;
+        public float4 size; /**<     box: size of the box in each axis.
+                                      sphere: radius of sphere (x,y,z),
+                                      capsule: radius (x), height(y), direction (z, can be 0, 1 or 2).
+                                      heightmap: width (x axis), height (y axis) and depth (z axis) in world units.*/
+
+        public ColliderShape.ShapeType type;
+        public float contactOffset;
+        public int dataIndex;       // index of the associated collider data in the collision world.
+        public int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
+        public int materialIndex;   // index of the associated material in the collision world.
+        public int forceZoneIndex;  // index of the associated force zone in the collision world.
+        public int filter;
+        public int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0),
+                                    // third bit determines whether shape is inverted or not.
+
+        public bool is2D
+        {
+            get => (flags & 1) != 0;
+            set => flags |= value ? 1 : 0;
+        }
+        public bool isTrigger
+        {
+            get => (flags & 1 << 1) != 0 || forceZoneIndex >= 0;
+            set => flags |= value ? 1 << 1 : 0;
+        }
+        public float sign
+        {
+            get => (flags & 1 << 2) != 0 ? -1 : 1;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta
new file mode 100644
index 00000000..362c07ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 707535693276c450e8ba4504defa09eb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
new file mode 100644
index 00000000..14a2a29f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
@@ -0,0 +1,625 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Threading;
+using Unity.Collections.LowLevel.Unsafe;
+
+namespace Obi
+{
+
+
+    public class BurstColliderWorld : MonoBehaviour, IColliderWorldImpl
+    {
+        struct MovingCollider
+        {
+            public BurstCellSpan oldSpan;
+            public BurstCellSpan newSpan;
+            public int entity;
+        }
+
+        public int referenceCount { get; private set; } = 0;
+        public int colliderCount { get; private set; } = 0;
+
+        private NativeMultilevelGrid<int> grid;
+        private NativeQueue<MovingCollider> movingColliders;
+
+        private NativeArray<int> colliderTypeCounts;
+        private NativeQueue<Oni.ContactPair> contactPairQueue;
+        public NativeList<Oni.ContactPair> contactPairs;
+        public NativeArray<int> contactOffsetsPerType;
+
+        public NativeQueue<BurstContact> colliderContactQueue;
+
+        public ObiNativeCellSpanList cellSpans;
+
+        public void Awake()
+        {
+            this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
+            this.movingColliders = new NativeQueue<MovingCollider>(Allocator.Persistent);
+            this.colliderContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
+
+            this.contactPairQueue = new NativeQueue<Oni.ContactPair>(Allocator.Persistent);
+            this.colliderTypeCounts = new NativeArray<int>(Oni.ColliderShapeTypeCount, Allocator.Persistent);
+            this.contactOffsetsPerType = new NativeArray<int>(Oni.ColliderShapeTypeCount + 1, Allocator.Persistent);
+            this.contactPairs = new NativeList<Oni.ContactPair>(Allocator.Persistent);
+
+            this.cellSpans = new ObiNativeCellSpanList();
+
+            ObiColliderWorld.GetInstance().RegisterImplementation(this);
+        }
+
+        public void OnDestroy()
+        {
+            ObiColliderWorld.GetInstance().UnregisterImplementation(this);
+
+            grid.Dispose();
+            movingColliders.Dispose();
+
+            colliderTypeCounts.Dispose();
+            contactPairQueue.Dispose();
+            contactPairs.Dispose();
+            contactOffsetsPerType.Dispose();
+
+            colliderContactQueue.Dispose();
+
+            cellSpans.Dispose();
+        }
+
+        public void IncreaseReferenceCount()
+        {
+            referenceCount++;
+        }
+        public void DecreaseReferenceCount()
+        {
+            if (--referenceCount <= 0 && gameObject != null)
+                DestroyImmediate(gameObject);  
+        }
+
+        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
+        {
+            colliderCount = shapes.count;
+
+            // insert new empty cellspans at the end if needed:
+            while (colliderCount > cellSpans.count)
+                cellSpans.Add(new CellSpan(new VInt4(10000), new VInt4(10000)));
+        }
+
+        public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
+        {
+        }
+
+        public void SetForceZones(ObiNativeForceZoneList rigidbody)
+        {
+        }
+
+        public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
+        {
+
+        }
+
+        public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
+        {
+        }
+
+        public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
+        {
+        }
+
+        public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes) { }
+        public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples) { }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var identifyMoving = new IdentifyMovingColliders
+            {
+                movingColliders = movingColliders.AsParallelWriter(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(cellSpans.count),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+                collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(cellSpans.count),
+                cellIndices = cellSpans.AsNativeArray<BurstCellSpan>(),
+                colliderCount = colliderCount,
+                dt = deltaTime
+            };
+            JobHandle movingHandle = identifyMoving.Schedule(cellSpans.count, 128);
+
+            var updateMoving = new UpdateMovingColliders
+            {
+                movingColliders = movingColliders,
+                grid = grid,
+                colliderCount = colliderCount
+            };
+
+            updateMoving.Schedule(movingHandle).Complete();
+
+            // remove tail from the current spans array:
+            if (colliderCount < cellSpans.count)
+                cellSpans.count -= cellSpans.count - colliderCount;
+        }
+
+        [BurstCompile]
+        struct IdentifyMovingColliders : IJobParallelFor
+        {
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<MovingCollider>.ParallelWriter movingColliders;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            public NativeArray<BurstAabb> bounds;
+
+            public NativeArray<BurstCellSpan> cellIndices;
+            [ReadOnly] public int colliderCount;
+            [ReadOnly] public float dt;
+
+            // Iterate over all colliders and store those whose cell span has changed.
+            public void Execute(int i)
+            {
+                BurstAabb velocityBounds = bounds[i];
+
+                int rb = shapes[i].rigidbodyIndex;
+
+                // Expand bounds by rigidbody's linear velocity
+                // (check against out of bounds rigidbody access, can happen when a destroyed collider references a rigidbody that has just been destroyed too)
+                if (rb >= 0 && rb < rigidbodies.Length)
+                    velocityBounds.Sweep(rigidbodies[rb].velocity * dt);
+
+                // Expand bounds by collision material's stick distance:
+                if (shapes[i].materialIndex >= 0) 
+                    velocityBounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
+
+                float size = velocityBounds.AverageAxisLength();
+                int level = NativeMultilevelGrid<int>.GridLevelForSize(size);
+                float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
+
+                // get new collider bounds cell coordinates:
+                BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(velocityBounds.min.xyz, cellSize), level),
+                                                          new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
+
+                // if the collider is 2D, project it to the z = 0 cells.
+                if (shapes[i].is2D)
+                {
+                    newSpan.min[2] = 0;
+                    newSpan.max[2] = 0;
+                }
+
+                // if the collider is at the tail (removed), we will only remove it from its current cellspan.
+                // if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
+                if (i >= colliderCount || cellIndices[i] != newSpan)
+                {
+                    // Add the collider to the list of moving colliders:
+                    movingColliders.Enqueue(new MovingCollider
+                    {
+                        oldSpan = cellIndices[i],
+                        newSpan = newSpan,
+                        entity = i
+                    });
+
+                    // Update previous coords:
+                    cellIndices[i] = newSpan;
+                }
+
+            }
+        }
+
+        [BurstCompile]
+        struct UpdateMovingColliders : IJob
+        {
+            public NativeQueue<MovingCollider> movingColliders;
+            public NativeMultilevelGrid<int> grid;
+            [ReadOnly] public int colliderCount;
+
+            public void Execute()
+            {
+                while (movingColliders.Count > 0)
+                {
+                    MovingCollider movingCollider = movingColliders.Dequeue();
+
+                    // remove from old cells:
+                    grid.RemoveFromCells(movingCollider.oldSpan, movingCollider.entity);
+
+                    // insert in new cells, as long as the index is below the amount of colliders.
+                    // otherwise, the collider is at the "tail" and there's no need to add it back.
+                    if (movingCollider.entity < colliderCount)
+                        grid.AddToCells(movingCollider.newSpan, movingCollider.entity);
+                }
+
+                // remove all empty cells from the grid:
+                grid.RemoveEmpty();
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct GenerateContactsJob : IJobParallelFor
+        {
+            //collider grid:
+            [ReadOnly] public NativeMultilevelGrid<int> colliderGrid;
+
+            [DeallocateOnJobCompletion]
+            [ReadOnly] public NativeArray<int> gridLevels;
+
+            // particle arrays:
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> filters;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+            [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+            // collider arrays:
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [ReadOnly] public NativeArray<BurstAabb> bounds;
+
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<Oni.ContactPair>.ParallelWriter contactPairQueue;
+
+            [NativeDisableParallelForRestriction]
+            public NativeArray<int> colliderTypeCounts;
+
+            // auxiliar data:
+            [ReadOnly] public BurstAffineTransform solverToWorld;
+            [ReadOnly] public float deltaTime;
+            [ReadOnly] public Oni.SolverParameters parameters;
+
+            public void Execute(int i)
+            {
+                int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
+
+                // get all colliders overlapped by the cell bounds, in all grid levels:
+                BurstAabb simplexBoundsWS = simplexBounds[i].Transformed(solverToWorld);
+                NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
+
+                // max size of the simplex bounds in cells:
+                int3 maxSize = new int3(10);
+                bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
+
+                for (int l = 0; l < gridLevels.Length; ++l)
+                {
+                    float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(gridLevels[l]);
+
+                    int3 minCell = GridHash.Quantize(simplexBoundsWS.min.xyz, cellSize);
+                    int3 maxCell = GridHash.Quantize(simplexBoundsWS.max.xyz, cellSize);
+                    maxCell = minCell + math.min(maxCell - minCell, maxSize);
+
+                    for (int x = minCell[0]; x <= maxCell[0]; ++x)
+                    {
+                        for (int y = minCell[1]; y <= maxCell[1]; ++y)
+                        {
+                            // for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
+                            // (which are inserted in cells with z == 0) are accounted for in the broadphase.
+                            if (is2D)
+                            {
+                                if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, gridLevels[l]), out int cellIndex))
+                                {
+                                    var colliderCell = colliderGrid.usedCells[cellIndex];
+                                    candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
+                                }
+                            }
+
+                            for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                            {
+                                if (colliderGrid.TryGetCellIndex(new int4(x, y, z, gridLevels[l]), out int cellIndex))
+                                {
+                                    var colliderCell = colliderGrid.usedCells[cellIndex];
+                                    candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
+                                }
+                            }
+                        }
+                    }
+                }
+
+                if (candidates.Length > 0)
+                {
+                    // make sure each candidate collider only shows up once in the array:
+                    NativeArray<int> uniqueCandidates = candidates.AsArray();
+                    uniqueCandidates.Sort();
+                    int uniqueCount = uniqueCandidates.Unique();
+
+                    // iterate over candidate colliders, generating contacts for each one
+                    for (int k = 0; k < uniqueCount; ++k)
+                    {
+                        int c = uniqueCandidates[k];
+                        if (c < shapes.Length)
+                        {
+                            BurstColliderShape shape = shapes[c];
+                            BurstAabb colliderBoundsWS = bounds[c];
+                            int rb = shape.rigidbodyIndex;
+
+                            // Expand bounds by rigidbody's linear velocity:
+                            if (rb >= 0)
+                                colliderBoundsWS.Sweep(rigidbodies[rb].velocity * deltaTime);
+
+                            // Expand bounds by collision material's stick distance:
+                            if (shape.materialIndex >= 0)
+                                colliderBoundsWS.Expand(collisionMaterials[shape.materialIndex].stickDistance);
+
+                            // check if any simplex particle and the collider should collide:
+                            bool shouldCollide = false;
+                            var colliderCategory = shape.filter & ObiUtils.FilterCategoryBitmask;
+                            var colliderMask = (shape.filter & ObiUtils.FilterMaskBitmask) >> 16;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
+                                var simplexMask =    (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
+                                shouldCollide |= (simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0;
+                            }
+
+                            if (shouldCollide && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
+                            {
+                                // increment the amount of contacts for this shape type:
+                                Interlocked.Increment(ref ((int*)colliderTypeCounts.GetUnsafePtr())[(int)shape.type]);
+
+                                // enqueue a new contact pair:
+                                contactPairQueue.Enqueue(new Oni.ContactPair{
+                                    bodyA = i,
+                                    bodyB = c
+                                });
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct PrefixSumJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> array;
+            public NativeArray<int> sum;
+
+            public void Execute()
+            {
+                sum[0] = 0;
+                for (int i = 1; i < sum.Length; ++i)
+                    sum[i] = sum[i - 1] + array[i-1];
+            }
+        }
+
+        [BurstCompile]
+        struct SortContactPairsByShape : IJob
+        {
+            public NativeQueue<Oni.ContactPair> contactPairQueue;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<int> start; // prefix sum
+            public NativeArray<int> count;
+
+            public NativeList<Oni.ContactPair> contactPairs;
+
+            public void Execute()
+            {
+                contactPairs.ResizeUninitialized(contactPairQueue.Count);
+
+                while (!contactPairQueue.IsEmpty())
+                {
+                    var pair = contactPairQueue.Dequeue();
+                    int shapeType = (int)shapes[pair.bodyB].type;
+
+                    // write the pair directly at its position in the sorted array:
+                    contactPairs[start[shapeType] + (--count[shapeType])] = pair;
+                }
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct ApplyForceZonesJob : IJobParallelFor
+        {
+            // particle arrays:
+            [NativeDisableParallelForRestriction] public NativeArray<float4> externalForces;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> wind;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+            [NativeDisableParallelForRestriction] public NativeArray<float> life;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            // collider arrays:
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<ForceZone> forceZones;
+
+            // contacts
+            [ReadOnly] public NativeArray<BurstContact> contacts;
+
+            // auxiliar data:
+            [ReadOnly] public BurstAffineTransform worldToSolver;
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                var contact = contacts[i];
+                int forceZoneIndex = shapes[contact.bodyB].forceZoneIndex;
+
+                if (forceZoneIndex >= 0)
+                {
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+
+                        if (invMasses[particleIndex] > 0)
+                        {
+                            float distance = -math.dot(positions[particleIndex] - contact.pointB, contact.normal);
+                            if (distance < 0) continue;
+
+                            float4 axis = (worldToSolver * transforms[contact.bodyB]).TransformDirection(new float4(0, 0, 1, 0));
+
+                            // calculate falloff region based on min/max distances:
+                            float falloff = 1;
+                            float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
+                            if (math.abs(range) > BurstMath.epsilon)
+                                falloff = math.pow(math.saturate((distance - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
+
+                            float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
+                            float dampIntensity  = forceZones[forceZoneIndex].damping * falloff;
+
+                            // calculate force direction, depending on the type of the force field:
+                            float4 result = float4.zero;
+                            switch (forceZones[forceZoneIndex].type)
+                            {
+                                case ForceZone.ZoneType.Radial:
+                                        result = contact.normal * forceIntensity;
+                                    break;
+                                case ForceZone.ZoneType.Vortex:
+                                        result = new float4(math.cross(axis.xyz * forceIntensity, contact.normal.xyz).xyz, 0);
+                                    break;
+                                case ForceZone.ZoneType.Directional:
+                                        result = axis * forceIntensity;
+                                    break;
+                                default:
+                                    BurstMath.AtomicAdd(life, particleIndex, -forceIntensity * deltaTime);
+                                    continue;
+                            }
+
+                            // apply damping:
+                            switch (forceZones[forceZoneIndex].dampingDir)
+                            {
+                                case ForceZone.DampingDirection.ForceDirection:
+                                    {
+                                        float4 forceDir = math.normalizesafe(result);
+                                        result -= forceDir * math.dot(velocities[particleIndex], forceDir) * dampIntensity;
+                                    }
+                                    break;
+                                case ForceZone.DampingDirection.SurfaceDirection:
+                                    result -= contact.normal * math.dot(velocities[particleIndex], contact.normal) * dampIntensity;
+                                    break;
+                                default:
+                                    result -= velocities[particleIndex] * dampIntensity;
+                                    break;
+                            }
+
+                            switch (forceZones[forceZoneIndex].mode)
+                            {
+                                case ForceZone.ForceMode.Acceleration:
+                                    BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize / invMasses[particleIndex]);
+                                break;
+                                case ForceZone.ForceMode.Force:
+                                    BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize);
+                                break;
+                                case ForceZone.ForceMode.Wind:
+                                    BurstMath.AtomicAdd(wind, particleIndex, result / simplexSize);
+                                break;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        public JobHandle ApplyForceZones(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var applyForceFieldsJob = new ApplyForceZonesJob
+            {
+                contacts = solver.abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+
+                positions = solver.positions,
+                velocities = solver.velocities,
+                externalForces = solver.externalForces,
+                wind = solver.wind,
+                invMasses = solver.invMasses,
+                life = solver.life,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                forceZones = world.forceZones.AsNativeArray<ForceZone>(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+            };
+
+            return applyForceFieldsJob.Schedule(solver.abstraction.colliderContacts.count, 64, inputDeps);
+        }
+
+        public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var generateColliderContactsJob = new GenerateContactsJob
+            {
+                colliderGrid = grid,
+                gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+                filters = solver.filters,
+                particleMaterialIndices = solver.collisionMaterials,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+                collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
+
+                contactPairQueue = contactPairQueue.AsParallelWriter(),
+                colliderTypeCounts = colliderTypeCounts,
+
+                solverToWorld = solver.solverToWorld,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters
+            };
+
+            inputDeps = generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
+
+            var prefixSumJob = new PrefixSumJob
+            {
+                array = colliderTypeCounts,
+                sum = contactOffsetsPerType
+            };
+            inputDeps = prefixSumJob.Schedule(inputDeps);
+
+            var sortPairsJob = new SortContactPairsByShape
+            {
+                contactPairQueue = contactPairQueue,
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                start = contactOffsetsPerType,
+                count = colliderTypeCounts,
+                contactPairs = contactPairs
+            };
+            inputDeps = sortPairsJob.Schedule(inputDeps);
+
+            inputDeps.Complete();
+
+            inputDeps = BurstSphere.GenerateContacts(world,solver,contactPairs,colliderContactQueue,contactOffsetsPerType,deltaTime,inputDeps);
+            inputDeps = BurstBox.GenerateContacts(world,solver,contactPairs,colliderContactQueue, contactOffsetsPerType,deltaTime,inputDeps);
+            inputDeps = BurstCapsule.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstDistanceField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstTriangleMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstHeightField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstEdgeMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+
+            return inputDeps;
+        }
+
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta
new file mode 100644
index 00000000..8c04e4b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f1a161c4294214a4fbcb7e9e94800494
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs
new file mode 100644
index 00000000..f4d7a54a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs
@@ -0,0 +1,65 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstDFNode
+    {
+        public float4 distancesA;
+        public float4 distancesB;
+        public float4 center;
+        public int firstChild;
+
+        // add 12 bytes of padding to ensure correct memory alignment:
+        private int pad0;
+        private int pad1;
+        private int pad2;
+
+        public float4 SampleWithGradient(float4 position)
+        {
+            float4 nPos = GetNormalizedPos(position);
+
+            // trilinear interpolation of distance:
+            float4 x = distancesA + (distancesB - distancesA) * nPos[0];
+            float2 y = x.xy + (x.zw - x.xy) * nPos[1];
+            float distance = y[0] + (y[1] - y[0]) * nPos[2];
+
+            // gradient estimation:
+            // x == 0
+            float2 a = distancesA.xy + (distancesA.zw - distancesA.xy) * nPos[1];
+            float x0 = a[0] + (a[1] - a[0]) * nPos[2];
+
+            // x == 1
+            a = distancesB.xy + (distancesB.zw - distancesB.xy) * nPos[1];
+            float x1 = a[0] + (a[1] - a[0]) * nPos[2];
+
+            // y == 0
+            float y0 = x[0] + (x[1] - x[0]) * nPos[2];
+
+            // y == 1
+            float y1 = x[2] + (x[3] - x[2]) * nPos[2];
+
+            return new float4(x1 - x0, y1 - y0, y[1] - y[0], distance);
+
+        }
+
+        public float4 GetNormalizedPos(float4 position)
+        {
+            float4 corner = center - new float4(center[3]);
+            return (position - corner) / (center[3] * 2);
+        }
+
+        public int GetOctant(float4 position)
+        {
+            int index = 0;
+            if (position[0] > center[0]) index |= 4;
+            if (position[1] > center[1]) index |= 2;
+            if (position[2] > center[2]) index |= 1;
+            return index;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta
new file mode 100644
index 00000000..3ab35ee4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5a1060edd11d4d268313295cdfe778b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
new file mode 100644
index 00000000..1ebf5c04
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
@@ -0,0 +1,188 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstDistanceField : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
+        public NativeArray<BurstDFNode> dfNodes;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPoint(point);
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            var header = distanceFieldHeaders[shape.dataIndex];
+            float4 sample = DFTraverse(point, in header);
+            float4 normal = new float4(math.normalize(sample.xyz), 0);
+
+            projectedPoint.point = colliderToSolver.TransformPoint(point - normal * (sample[3] - shape.contactOffset));
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        private float4 DFTraverse(float4 particlePosition, in DistanceFieldHeader header)
+        {
+            var stack = new NativeArray<int>(12, Allocator.Temp);
+            int stackTop = 0;
+
+            stack[stackTop++] = 0;
+
+            while (stackTop > 0)
+            {
+                int nodeIndex = stack[--stackTop];
+                var node = dfNodes[header.firstNode + nodeIndex];
+
+                // if the child node exists, recurse down the df octree:
+                if (node.firstChild >= 0)
+                    stack[stackTop++] = node.firstChild + node.GetOctant(particlePosition);
+                else
+                    return node.SampleWithGradient(particlePosition);
+            }
+            return float4.zero;
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField + 1] - contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateDistanceFieldContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray<DistanceFieldHeader>(),
+                distanceFieldNodes = world.distanceFieldContainer.dfNodes.AsNativeArray<BurstDFNode>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateDistanceFieldContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // distance field data:
+        [ReadOnly] public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
+        [ReadOnly] public NativeArray<BurstDFNode> distanceFieldNodes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+            if (shapes[colliderIndex].dataIndex < 0) return;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstDistanceField dfShape = new BurstDistanceField()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shapes[colliderIndex],
+                distanceFieldHeaders = distanceFieldHeaders,
+                dfNodes = distanceFieldNodes
+            };
+
+
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref dfShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 simplexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            float4 velocity = float4.zero;
+            float simplexRadius = 0;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                velocity += velocities[particleIndex] * simplexBary[j];
+            }
+
+            float4 rbVelocity = float4.zero;
+            if (rigidbodyIndex >= 0)
+                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+            float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
+            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+            //if (vel * deltaTime + dAB <= simplexRadius + shapes[colliderIndex].contactOffset + parameters.collisionMargin)
+                contactsQueue.Enqueue(new BurstContact
+                {
+                    bodyA = simplexIndex,
+                    bodyB = colliderIndex,
+                    pointA = simplexBary,
+                    pointB = colliderPoint.point,
+                    normal = colliderPoint.normal * dfShape.shape.sign
+                });
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta
new file mode 100644
index 00000000..3d220582
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 965f98194011e4cd9b8c1400b59565d8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
new file mode 100644
index 00000000..75488777
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
@@ -0,0 +1,211 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstEdgeMesh : BurstLocalOptimization.IDistanceFunction
+    {
+
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+        public int dataOffset;
+
+        public EdgeMeshHeader header;
+        public NativeArray<BIHNode> edgeBihNodes;
+        public NativeArray<Edge> edges;
+        public NativeArray<float2> vertices;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            Edge t = edges[header.firstEdge + dataOffset];
+            float4 v1 = (new float4(vertices[header.firstVertex + t.i1], 0, 0) + shape.center) * colliderToSolver.scale;
+            float4 v2 = (new float4(vertices[header.firstVertex + t.i2], 0, 0) + shape.center) * colliderToSolver.scale;
+
+            float4 nearestPoint = BurstMath.NearestPointOnEdge(v1, v2, point, out float mu);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.EdgeMesh + 1] - contactOffsetsPerType[(int)Oni.ShapeType.EdgeMesh];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateEdgeMeshContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                edgeMeshHeaders = world.edgeMeshContainer.headers.AsNativeArray<EdgeMeshHeader>(),
+                edgeBihNodes = world.edgeMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
+                edges = world.edgeMeshContainer.edges.AsNativeArray<Edge>(),
+                edgeVertices = world.edgeMeshContainer.vertices.AsNativeArray<float2>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.solverToWorld,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateEdgeMeshContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // edge mesh data:
+        [ReadOnly] public NativeArray<EdgeMeshHeader> edgeMeshHeaders;
+        [ReadOnly] public NativeArray<BIHNode> edgeBihNodes;
+        [ReadOnly] public NativeArray<Edge> edges;
+        [ReadOnly] public NativeArray<float2> edgeVertices;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
+
+            if (shape.dataIndex < 0)
+                return;
+
+            var header = edgeMeshHeaders[shape.dataIndex];
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            float4 marginCS = new float4((shape.contactOffset + parameters.collisionMargin) / colliderToSolver.scale.xyz, 0);
+
+            BurstEdgeMesh edgeMeshShape = new BurstEdgeMesh()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shape,
+                header = header,
+                edgeBihNodes = edgeBihNodes,
+                edges = edges,
+                vertices = edgeVertices
+            };
+
+            NativeQueue<int> queue = new NativeQueue<int>(Allocator.Temp);
+
+            queue.Enqueue(0);
+
+            while (!queue.IsEmpty())
+            {
+                int nodeIndex = queue.Dequeue();
+                var node = edgeBihNodes[header.firstNode + nodeIndex];
+
+                // leaf node:
+                if (node.firstChild < 0)
+                {
+                    // check for contact against all triangles:
+                    for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+                    {
+                        Edge t = edges[header.firstEdge + dataOffset];
+                        float4 v1 = new float4(edgeVertices[header.firstVertex + t.i1], 0, 0) + shape.center;
+                        float4 v2 = new float4(edgeVertices[header.firstVertex + t.i2], 0, 0) + shape.center;
+                        BurstAabb edgeBounds = new BurstAabb(v1, v2, marginCS);
+
+                        if (edgeBounds.IntersectsAabb(simplexBoundsCS, shape.is2D))
+                        {
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+                            edgeMeshShape.dataOffset = dataOffset;
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref edgeMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out float4 convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+                            contactsQueue.Enqueue(new BurstContact(){
+                                bodyA = simplexIndex,
+                                bodyB = colliderIndex,
+                                pointA = simplexBary,
+                                pointB = colliderPoint.point,
+                                normal = colliderPoint.normal * edgeMeshShape.shape.sign
+                            });
+                        }
+                    }
+                }
+                else // check min and/or max children:
+                {
+                    // visit min node:
+                    if (simplexBoundsCS.min[node.axis] <= node.min)
+                        queue.Enqueue(node.firstChild);
+
+                    // visit max node:
+                    if (simplexBoundsCS.max[node.axis] >= node.max)
+                        queue.Enqueue(node.firstChild + 1);
+                }
+            }
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta
new file mode 100644
index 00000000..bda2d5b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 91bd73e80795e494292d0b2fbf2e5e7f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
new file mode 100644
index 00000000..32151032
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
@@ -0,0 +1,273 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstHeightField : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public BurstMath.CachedTri tri;
+        public float4 triNormal;
+
+        public HeightFieldHeader header;
+        public NativeArray<float> heightFieldSamples;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPoint(point);
+
+            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out _);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            // flip the contact normal if it points below ground: (doesn't work with holes)
+            //BurstMath.OneSidedNormal(triNormal, ref normal);
+
+            projectedPoint.point = colliderToSolver.TransformPoint(nearestPoint + normal * shape.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Heightmap];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateHeightFieldContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray<HeightFieldHeader>(),
+                heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray<float>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+
+    }
+
+    [BurstCompile]
+    struct GenerateHeightFieldContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // height field data:
+        [ReadOnly] public NativeArray<HeightFieldHeader> heightFieldHeaders;
+        [ReadOnly] public NativeArray<float> heightFieldSamples;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
+
+            if (shape.dataIndex < 0)
+                return;
+
+            var header = heightFieldHeaders[shape.dataIndex];
+            int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            BurstHeightField triangleMeshShape = new BurstHeightField()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shapes[colliderIndex],
+                header = heightFieldHeaders[shapes[colliderIndex].dataIndex],
+                heightFieldSamples = heightFieldSamples
+            };
+
+            float4 triNormal = float4.zero;
+
+            var co = new BurstContact { bodyA = simplexIndex, bodyB = 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(simplexBoundsCS.min[0] / cellWidth), (int)math.floor(simplexBoundsCS.min[2] / cellHeight));
+            int2 max = new int2((int)math.floor(simplexBoundsCS.max[0] / cellWidth), (int)math.floor(simplexBoundsCS.max[2] / 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 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * shape.size.y;
+                            float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * shape.size.y;
+                            float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * shape.size.y;
+                            float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * shape.size.y;
+
+                            if (h1 < 0) continue;
+                            h1 = math.abs(h1);
+                            h2 = math.abs(h2);
+                            h3 = math.abs(h3);
+                            h4 = math.abs(h4);
+
+                            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);
+
+                            float4 convexPoint;
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+                            // ------contact against the first triangle------:
+                            float4 v1 = new float4(min_x, h3, max_z, 0);
+                            float4 v2 = new float4(max_x, h4, max_z, 0);
+                            float4 v3 = new float4(min_x, h1, min_z, 0);
+
+                            triangleMeshShape.tri.Cache(v1, v2, v3);
+                            triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+                            float4 velocity = float4.zero;
+                            float simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                                velocity += velocities[particleIndex] * simplexBary[j];
+                            }
+
+                            float4 rbVelocity = float4.zero;
+                            if (rigidbodyIndex >= 0)
+                                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+                            float dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
+                            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
+                            {
+                                co.pointB = colliderPoint.point;
+                                co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
+                                co.pointA = simplexBary;
+                                contactsQueue.Enqueue(co);
+                            }
+
+                            // ------contact against the second triangle------:
+                            v1 = new float4(min_x, h1, min_z, 0);
+                            v2 = new float4(max_x, h4, max_z, 0);
+                            v3 = new float4(max_x, h2, min_z, 0);
+
+                            triangleMeshShape.tri.Cache(v1, v2, v3);
+                            triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                            colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                            ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+                            velocity = float4.zero;
+                            simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                                velocity += velocities[particleIndex] * simplexBary[j];
+                            }
+
+                            rbVelocity = float4.zero;
+                            if (rigidbodyIndex >= 0)
+                                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+                            dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
+                            vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
+                            {
+                                co.pointB = colliderPoint.point;
+                                co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
+                                co.pointA = simplexBary;
+
+                                contactsQueue.Enqueue(co);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta
new file mode 100644
index 00000000..a4815254
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 780062b6393e3476e947fb10fc9b4f3d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
new file mode 100644
index 00000000..16da88c4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
@@ -0,0 +1,207 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{ 
+    public static class BurstLocalOptimization
+    {
+
+        /**
+         * point in the surface of a signed distance field.
+         */
+        public struct SurfacePoint
+        {
+            public float4 bary;
+            public float4 point;
+            public float4 normal;
+        }
+
+        public interface IDistanceFunction
+        {
+            void Evaluate(float4 point, float4 radii, quaternion orientation, ref SurfacePoint projectedPoint);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        private static void GetInterpolatedSimplexData(int simplexStart,
+                                            int simplexSize,
+                                            NativeArray<int> simplices,
+                                            NativeArray<float4> positions,
+                                            NativeArray<quaternion> orientations,
+                                            NativeArray<float4> radii,
+                                            float4 convexBary,
+                                            out float4 convexPoint,
+                                            out float4 convexRadii,
+                                            out quaternion convexOrientation)
+        {
+            convexPoint = float4.zero;
+            convexRadii = float4.zero;
+            convexOrientation = new quaternion(0, 0, 0, 0);
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particle = simplices[simplexStart + j];
+                convexPoint += positions[particle] * convexBary[j];
+                convexRadii += radii[particle] * convexBary[j];
+                convexOrientation.value += orientations[particle].value * convexBary[j];
+            }
+            convexPoint.w = 0;
+        }
+
+        public static SurfacePoint Optimize<T>(ref T function,
+                                               NativeArray<float4> positions,
+                                               NativeArray<quaternion> orientations,
+                                               NativeArray<float4> radii,
+                                               NativeArray<int> simplices,
+                                               int simplexStart,
+                                               int simplexSize,
+                                               ref float4 convexBary,
+                                               out float4 convexPoint,
+                                               int maxIterations = 16,
+                                               float tolerance = 0.004f) where T : struct, IDistanceFunction
+        {
+            var pointInFunction = new SurfacePoint();
+
+            // get cartesian coordinates of the initial guess:
+            GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out float4 convexThickness, out quaternion convexOrientation);
+
+            // for a 0-simplex (point), perform a single evaluation:
+            if (simplexSize == 1 || maxIterations < 1)
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+
+            // for a 1-simplex (edge), perform golden ratio search:
+            else if (simplexSize == 2)
+                GoldenSearch(ref function, simplexStart, simplexSize, positions, orientations, radii, simplices, ref convexPoint, ref convexThickness, ref convexOrientation, ref convexBary, ref pointInFunction, maxIterations, tolerance * 10);
+
+            // for higher-order simplices, use general Frank-Wolfe convex optimization:
+            else
+                FrankWolfe(ref function, simplexStart, simplexSize, positions, orientations, radii, simplices, ref convexPoint, ref convexThickness, ref convexOrientation, ref convexBary, ref pointInFunction, maxIterations, tolerance);
+            
+            return pointInFunction;
+        }
+
+        // Frank-Wolfe convex optimization algorithm. Returns closest point to a simplex in a signed distance function.
+        private static void FrankWolfe<T>(ref T function,
+                                          int simplexStart,
+                                          int simplexSize,
+                                          NativeArray<float4> positions,
+                                          NativeArray<quaternion> orientations,
+                                          NativeArray<float4> radii,
+                                          NativeArray<int> simplices,
+                                          ref float4 convexPoint,
+                                          ref float4 convexThickness,
+                                          ref quaternion convexOrientation,
+                                          ref float4 convexBary,
+                                          ref SurfacePoint pointInFunction,
+                                          int maxIterations,
+                                          float tolerance) where T : struct, IDistanceFunction
+        {
+            for (int i = 0; i < maxIterations; ++i)
+            {
+                // sample target function:
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+
+                // find descent direction:
+                int descent = 0;
+                float gap = float.MinValue;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particle = simplices[simplexStart + j];
+                    float4 candidate = positions[particle] - convexPoint;
+                    candidate.w = 0;
+
+                    // here, we adjust the candidate by projecting it to the engrosed simplex's surface:
+                    candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
+
+                    float corr = math.dot(-pointInFunction.normal, candidate);
+                    if (corr > gap)
+                    {
+                        descent = j;
+                        gap = corr;
+                    }
+                }
+
+                // if the duality gap is below tolerance threshold, stop iterating.
+                if (gap < tolerance)
+                    break;
+
+                // update the barycentric coords using 2/(i+2) as  the step factor
+                float step = 0.3f * 2.0f / (i + 2);
+                convexBary *= 1 - step;
+                convexBary[descent] += step;
+
+                // get cartesian coordinates of current solution:
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out convexThickness, out convexOrientation);
+            }   
+        }
+
+        private static void GoldenSearch<T>(ref T function,
+                                            int simplexStart,
+                                            int simplexSize,
+                                            NativeArray<float4> positions,
+                                            NativeArray<quaternion> orientations,
+                                            NativeArray<float4> radii,
+                                            NativeArray<int> simplices,
+                                            ref float4 convexPoint,
+                                            ref float4 convexThickness,
+                                            ref quaternion convexOrientation,
+                                            ref float4 convexBary,
+                                            ref SurfacePoint pointInFunction,
+                                            int maxIterations,
+                                            float tolerance) where T : struct, IDistanceFunction
+        {
+            var pointInFunctionD = new SurfacePoint();
+            float4 convexPointD, convexThicknessD;
+            quaternion convexOrientationD;
+
+            float gr = (math.sqrt(5.0f) + 1) / 2.0f;
+            float u = 0, v = 1;
+            float c = v - (v - u) / gr;
+            float d = u + (v - u) / gr;
+
+            for (int i = 0; i < maxIterations; ++i)
+            {
+                // if the gap is below tolerance threshold, stop iterating.
+                if (math.abs(v - u) < tolerance * (math.abs(c) + math.abs(d)))
+                    break;
+
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, new float4(c, 1 - c, 0, 0), out convexPoint, out convexThickness, out convexOrientation);
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, new float4(d, 1 - d, 0, 0), out convexPointD, out convexThicknessD, out convexOrientationD);
+
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+                function.Evaluate(convexPointD, convexThicknessD, convexOrientationD, ref pointInFunctionD);
+
+                float4 candidateC = positions[simplices[simplexStart]] - pointInFunction.point;
+                float4 candidateD = positions[simplices[simplexStart + 1]] - pointInFunctionD.point;
+                candidateC.w = 0;
+                candidateD.w = 0;
+
+                candidateC -= pointInFunction.normal * (radii[simplices[simplexStart]].x - convexThickness.x);
+                candidateD -= pointInFunctionD.normal * (radii[simplices[simplexStart + 1]].x - convexThicknessD.x);
+
+                if (math.dot(-pointInFunction.normal, candidateC) < math.dot(-pointInFunctionD.normal, candidateD))
+                    v = d;
+                else
+                    u = c;
+
+                c = v - (v - u) / gr;
+                d = u + (v - u) / gr;
+            }
+
+            float mid = (v + u) * 0.5f;
+            convexBary.x = mid;
+            convexBary.y = (1 - mid);
+            GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out convexThickness, out convexOrientation);
+            function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+        }
+
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta
new file mode 100644
index 00000000..364d3fc9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
new file mode 100644
index 00000000..d042894d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
@@ -0,0 +1,65 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public struct BurstSimplex : BurstLocalOptimization.IDistanceFunction
+    {
+        public NativeArray<float4> positions;
+        public NativeArray<float4> radii;
+        public NativeArray<int> simplices;
+
+        public int simplexStart;
+        public int simplexSize;
+
+        private BurstMath.CachedTri tri;
+
+        public void CacheData()
+        {
+            if (simplexSize == 3)
+            {
+                tri.Cache(new float4(positions[simplices[simplexStart]].xyz,0),
+                          new float4(positions[simplices[simplexStart + 1]].xyz,0),
+                          new float4(positions[simplices[simplexStart + 2]].xyz,0));
+            }
+        }
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            switch (simplexSize)
+            {
+                case 1:
+                default:
+                    {
+                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                        projectedPoint.bary = new float4(1, 0, 0, 0);
+                        projectedPoint.point = p1;
+                    }
+                    break;
+                case 2:
+                    {
+                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                        float4 p2 = positions[simplices[simplexStart + 1]]; p2.w = 0;
+                        BurstMath.NearestPointOnEdge(p1, p2, point, out float mu);
+                        projectedPoint.bary = new float4(1 - mu, mu, 0, 0);
+                        projectedPoint.point = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
+            
+                    }break;
+                case 3:
+                        projectedPoint.point = BurstMath.NearestPointOnTri(tri, point, out projectedPoint.bary);
+                    break;
+            }
+
+            projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta
new file mode 100644
index 00000000..31e49b57
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d84f433832a8c4a90ba92ac471d18e44
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
new file mode 100644
index 00000000..cd5b297f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
@@ -0,0 +1,127 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstSphere : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
+            float distanceToCenter = math.length(point);
+
+            float4 normal = point / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Sphere + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Sphere];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateSphereContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Sphere]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateSphereContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstSphere shape = new BurstSphere { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+            
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            contactsQueue.Enqueue(new BurstContact {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta
new file mode 100644
index 00000000..5417774c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 38081dcc3e28a4a3dba1e8e5d042a262
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
new file mode 100644
index 00000000..6ef8be0b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
@@ -0,0 +1,220 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstTriangleMesh : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public BurstMath.CachedTri tri;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+            if (shape.is2D)
+                point[2] = 0;
+
+            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh + 1] - contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateTriangleMeshContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray<TriangleMeshHeader>(),
+                bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
+                triangles = world.triangleMeshContainer.triangles.AsNativeArray<Triangle>(),
+                vertices = world.triangleMeshContainer.vertices.AsNativeArray<float3>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateTriangleMeshContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // triangle mesh data:
+        [ReadOnly] public NativeArray<TriangleMeshHeader> triangleMeshHeaders;
+        [ReadOnly] public NativeArray<BIHNode> bihNodes;
+        [ReadOnly] public NativeArray<Triangle> triangles;
+        [ReadOnly] public NativeArray<float3> vertices;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
+
+            if (shape.dataIndex < 0)
+                return;
+
+            int rigidbodyIndex = shape.rigidbodyIndex;
+            var header = triangleMeshHeaders[shape.dataIndex];
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            float4 marginCS = new float4((shape.contactOffset + parameters.collisionMargin) / colliderToSolver.scale.xyz, 0);
+
+            BurstTriangleMesh triangleMeshShape = new BurstTriangleMesh()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shape
+            };
+
+            NativeQueue<int> queue = new NativeQueue<int>(Allocator.Temp);
+
+            queue.Enqueue(0);
+
+            while (!queue.IsEmpty())
+            {
+                int nodeIndex = queue.Dequeue();
+                var node = bihNodes[header.firstNode + nodeIndex];
+
+                // leaf node:
+                if (node.firstChild < 0)
+                {
+                    // check for contact against all triangles:
+                    for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+                    {
+                        Triangle t = triangles[header.firstTriangle + dataOffset];
+                        float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0);
+                        float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0);
+                        float4 v3 = new float4(vertices[header.firstVertex + t.i3], 0);
+                        BurstAabb triangleBounds = new BurstAabb(v1, v2, v3, marginCS);
+
+                        if (triangleBounds.IntersectsAabb(simplexBoundsCS, shape.is2D))
+                        {
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+                            triangleMeshShape.tri.Cache(v1 * colliderToSolver.scale, v2 * colliderToSolver.scale, v3 * colliderToSolver.scale);
+
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out float4 simplexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+                            float4 velocity = float4.zero;
+                            float simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                                velocity += velocities[particleIndex] * simplexBary[j];
+                            }
+
+                            float4 rbVelocity = float4.zero;
+                            if (rigidbodyIndex >= 0)
+                                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+                            float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
+                            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
+                            {
+                                contactsQueue.Enqueue(new BurstContact()
+                                {
+                                    bodyA = simplexIndex,
+                                    bodyB = colliderIndex,
+                                    pointA = simplexBary,
+                                    pointB = colliderPoint.point,
+                                    normal = colliderPoint.normal * triangleMeshShape.shape.sign
+                                });
+                            }
+                        }
+                    }
+                }
+                else // check min and/or max children:
+                {
+                    // visit min node:
+                    if (simplexBoundsCS.min[node.axis] <= node.min)
+                        queue.Enqueue(node.firstChild);
+
+                    // visit max node:
+                    if (simplexBoundsCS.max[node.axis] >= node.max)
+                        queue.Enqueue(node.firstChild + 1);
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta
new file mode 100644
index 00000000..df2751d2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta
@@ -0,0 +1,11 @@
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+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta
new file mode 100644
index 00000000..eadb4408
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta
new file mode 100644
index 00000000..fc5587ed
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b4c2af25bbe8a4c44941ea5486c18f71
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs
new file mode 100644
index 00000000..9f54797c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstAerodynamicConstraints : BurstConstraintsImpl<BurstAerodynamicConstraintsBatch>
+    {
+        public BurstAerodynamicConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Aerodynamics)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstAerodynamicConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstAerodynamicConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta
new file mode 100644
index 00000000..d1acf22e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 64e54848bb85248c8b0c31991ef094e0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
new file mode 100644
index 00000000..abbf5ec6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
@@ -0,0 +1,112 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstAerodynamicConstraintsBatch : BurstConstraintsBatchImpl, IAerodynamicConstraintsBatchImpl
+    {
+        private NativeArray<float> aerodynamicCoeffs;
+
+        public BurstAerodynamicConstraintsBatch(BurstAerodynamicConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Aerodynamics;
+        }
+
+        public void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.aerodynamicCoeffs = aerodynamicCoeffs.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new AerodynamicConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                aerodynamicCoeffs = aerodynamicCoeffs,
+                positions = solverImplementation.positions,
+                velocities = solverImplementation.velocities,
+                normals = solverImplementation.normals,
+                wind = solverImplementation.wind,
+                invMasses = solverImplementation.invMasses,
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        [BurstCompile]
+        public struct AerodynamicConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] [NativeDisableParallelForRestriction] public NativeArray<float> aerodynamicCoeffs;
+
+            [ReadOnly] public NativeArray<float4> positions; 
+            [ReadOnly] public NativeArray<float4> normals;
+            [ReadOnly] public NativeArray<float4> wind;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction]
+            public NativeArray<float4> velocities;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                int p = particleIndices[i];
+
+                float area = aerodynamicCoeffs[i * 3];
+                float dragCoeff = aerodynamicCoeffs[i * 3 + 1];
+                float liftCoeff = aerodynamicCoeffs[i * 3 + 2];
+
+                if (invMasses[p] > 0)
+                {
+                    float4 relVelocity = velocities[p] - wind[p];
+                    float rvSqrMag = math.lengthsq(relVelocity);
+
+                    if (rvSqrMag < BurstMath.epsilon)
+                        return;
+
+                    float4 rvNorm = relVelocity / math.sqrt(rvSqrMag);
+
+                    // calculate surface normal (always facing wind)
+                    float4 surfNormal = normals[p] * math.sign(math.dot(normals[p], rvNorm));
+
+                    // aerodynamic_factor was originally multiplied by air_density. The density is now premultiplied in lift and drag.
+                    float aerodynamicFactor = 0.5f * rvSqrMag * area;
+                    float attackAngle = math.dot(surfNormal,rvNorm);
+
+                    float3 liftDirection = math.normalizesafe(math.cross(math.cross(surfNormal.xyz, rvNorm.xyz), rvNorm.xyz));
+
+                    //drag:
+                    velocities[p] += (-dragCoeff * rvNorm +
+
+                                      // lift:
+                                      liftCoeff * new float4(liftDirection.xyz,0)) *
+
+                                      // scale
+                                      attackAngle * math.min(aerodynamicFactor * invMasses[p] * deltaTime, 1000);
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 00000000..727a13f4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta
new file mode 100644
index 00000000..844ecb4d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 93818b1e63d1143c580b09480a2c0a1c
+folderAsset: yes
+DefaultImporter:
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs
new file mode 100644
index 00000000..38ba785c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstBendConstraints : BurstConstraintsImpl<BurstBendConstraintsBatch>
+    {
+        public BurstBendConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Bending)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstBendConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstBendConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta
new file mode 100644
index 00000000..621fd064
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6c5e3cbf9187d4d39a1bc1a2e2386b00
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
new file mode 100644
index 00000000..18997515
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
@@ -0,0 +1,168 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstBendConstraintsBatch : BurstConstraintsBatchImpl, IBendConstraintsBatchImpl
+    {
+        private NativeArray<float> restBends;
+        private NativeArray<float2> stiffnesses;
+        private NativeArray<float2> plasticity;
+
+        BendConstraintsBatchJob projectConstraints;
+        ApplyBendConstraintsBatchJob applyConstraints;
+
+        public BurstBendConstraintsBatch(BurstBendConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Bending;
+        }
+
+        public void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.restBends = restBends.AsNativeArray<float>();
+            this.stiffnesses = bendingStiffnesses.AsNativeArray<float2>();
+            this.plasticity = plasticity.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+
+            projectConstraints.particleIndices = this.particleIndices;
+            projectConstraints.restBends = this.restBends;
+            projectConstraints.stiffnesses = this.stiffnesses;
+            projectConstraints.plasticity = this.plasticity;
+            projectConstraints.lambdas = this.lambdas;
+
+            applyConstraints.particleIndices = this.particleIndices;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            projectConstraints.positions = solverImplementation.positions;
+            projectConstraints.invMasses = solverImplementation.invMasses;
+            projectConstraints.deltas = solverImplementation.positionDeltas;
+            projectConstraints.counts = solverImplementation.positionConstraintCounts;
+            projectConstraints.deltaTime = substepTime;
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            applyConstraints.positions = solverImplementation.positions;
+            applyConstraints.deltas = solverImplementation.positionDeltas;
+            applyConstraints.counts = solverImplementation.positionConstraintCounts;
+            applyConstraints.sorFactor = parameters.SORFactor;
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct BendConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            [ReadOnly] public NativeArray<float2> plasticity; //plastic yield, creep
+            public NativeArray<float> restBends;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 3];
+                int p2 = particleIndices[i * 3 + 1];
+                int p3 = particleIndices[i * 3 + 2];
+
+                float w1 = invMasses[p1];
+                float w2 = invMasses[p2];
+                float w3 = invMasses[p3];
+
+                float wsum = w1 + w2 + 2 * w3;
+
+                float4 bendVector = positions[p3] - (positions[p1] + positions[p2] + positions[p3]) / 3.0f;
+                float bend = math.length(bendVector);
+
+                float constraint = bend - restBends[i];
+
+                constraint = math.max(0, constraint - stiffnesses[i].x) +
+                             math.min(0, constraint + stiffnesses[i].x);
+
+                // plasticity:
+                if (math.abs(constraint) > plasticity[i].x)  
+                    restBends[i] += constraint * plasticity[i].y * deltaTime;
+
+                // calculate time adjusted compliance
+                float compliance = stiffnesses[i].y / (deltaTime * deltaTime);
+
+                // since the third particle moves twice the amount of the other 2, the modulus of its gradient is 2:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (wsum + compliance + BurstMath.epsilon);
+                float4 correction = dlambda * bendVector / (bend + BurstMath.epsilon);
+
+                lambdas[i] += dlambda;
+
+                deltas[p1] -= correction * 2 * w1;
+                deltas[p2] -= correction * 2 * w2;
+                deltas[p3] += correction * 4 * w3;
+
+                counts[p1]++;
+                counts[p2]++;
+                counts[p3]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyBendConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 3];
+                int p2 = particleIndices[i * 3 + 1];
+                int p3 = particleIndices[i * 3 + 2];
+
+                if (counts[p1] > 0)
+                {
+                    positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                    deltas[p1] = float4.zero;
+                    counts[p1] = 0;
+                }
+
+                if (counts[p2] > 0)
+                {
+                    positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                    deltas[p2] = float4.zero;
+                    counts[p2] = 0;
+                }
+
+                if (counts[p3] > 0)
+                {
+                    positions[p3] += deltas[p3] * sorFactor / counts[p3];
+                    deltas[p3] = float4.zero;
+                    counts[p3] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta
new file mode 100644
index 00000000..17458903
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3ca9c1fed63774363964743eb64fb68b
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta
new file mode 100644
index 00000000..ef85fae7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e62fc9e22b02847ba86a32d3d0f375da
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs
new file mode 100644
index 00000000..6f913d95
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstBendTwistConstraints : BurstConstraintsImpl<BurstBendTwistConstraintsBatch>
+    {
+        public BurstBendTwistConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.BendTwist)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstBendTwistConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstBendTwistConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta
new file mode 100644
index 00000000..e87fcafa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 59166e10c311e43e283064f9c03b525c
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
new file mode 100644
index 00000000..17e1a0e6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
@@ -0,0 +1,181 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstBendTwistConstraintsBatch : BurstConstraintsBatchImpl, IBendTwistConstraintsBatchImpl
+    {
+        private NativeArray<int> orientationIndices;
+        private NativeArray<quaternion> restDarboux;
+        private NativeArray<float3> stiffnesses;
+        private NativeArray<float2> plasticity;
+
+        public BurstBendTwistConstraintsBatch(BurstBendTwistConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.BendTwist;
+        }
+
+        public void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restDarboux, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.orientationIndices = orientationIndices.AsNativeArray<int>();
+            this.restDarboux = restDarboux.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float3>();
+            this.plasticity = plasticity.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new BendTwistConstraintsBatchJob()
+            {
+                orientationIndices = orientationIndices,
+                restDarboux = restDarboux,
+                stiffnesses = stiffnesses,
+                plasticity = plasticity,
+                lambdas = lambdas.Reinterpret<float, float3>(),
+
+                orientations = solverImplementation.orientations,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts ,
+
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyBendTwistConstraintsBatchJob()
+            {
+                orientationIndices = orientationIndices,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct BendTwistConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public NativeArray<float3> stiffnesses;
+            [ReadOnly] public NativeArray<float2> plasticity;
+            public NativeArray<quaternion> restDarboux;
+            public NativeArray<float3> lambdas;
+
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                int q1 = orientationIndices[i * 2];
+                int q2 = orientationIndices[i * 2 + 1];
+
+                float w1 = invRotationalMasses[q1];
+                float w2 = invRotationalMasses[q2];
+
+                // calculate time adjusted compliance
+                float3 compliances = stiffnesses[i] / (deltaTime * deltaTime);
+
+                // rest and current darboux vectors
+                quaternion rest = restDarboux[i];
+                quaternion omega = math.mul(math.conjugate(orientations[q1]), orientations[q2]);
+
+                quaternion omega_plus;
+                omega_plus.value = omega.value + rest.value;  //delta Omega with - omega_0
+                omega.value -= rest.value;                    //delta Omega with + omega_0
+                if (math.lengthsq(omega.value.xyz) > math.lengthsq(omega_plus.value.xyz))
+                    omega = omega_plus;
+
+                // plasticity
+                if (math.lengthsq(omega.value.xyz) > plasticity[i].x * plasticity[i].x)
+                {
+                    rest.value += omega.value * plasticity[i].y * deltaTime;
+                    restDarboux[i] = rest;
+                }
+
+                float3 dlambda = (omega.value.xyz - compliances * lambdas[i]) / (compliances + new float3(w1 + w2 + BurstMath.epsilon));
+
+                //discrete Darboux vector does not have vanishing scalar part
+                quaternion dlambdaQ = new quaternion(dlambda[0], dlambda[1], dlambda[2],0);
+
+                quaternion d1 = orientationDeltas[q1];
+                quaternion d2 = orientationDeltas[q2];
+
+                d1.value += math.mul(orientations[q2], dlambdaQ).value * w1;
+                d2.value -= math.mul(orientations[q1], dlambdaQ).value * w2;
+
+                orientationDeltas[q1] = d1;
+                orientationDeltas[q2] = d2;
+
+                orientationCounts[q1]++;
+                orientationCounts[q2]++;
+
+                lambdas[i] += dlambda;
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyBendTwistConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public void Execute(int i)
+            {
+                int p1 = orientationIndices[i * 2];
+                int p2 = orientationIndices[i * 2 + 1];
+
+                if (orientationCounts[p1] > 0)
+                {
+                    quaternion q = orientations[p1];
+                    q.value += orientationDeltas[p1].value * sorFactor / orientationCounts[p1];
+                    orientations[p1] = math.normalize(q);
+
+                    orientationDeltas[p1] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[p1] = 0;
+                }
+
+                if (orientationCounts[p2] > 0)
+                {
+                    quaternion q = orientations[p2];
+                    q.value += orientationDeltas[p2].value * sorFactor / orientationCounts[p2];
+                    orientations[p2] = math.normalize(q);
+
+                    orientationDeltas[p2] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[p2] = 0;
+                }
+            }
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 00000000..3271c978
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c6235d2e315a94287ab8a219496d7961
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
new file mode 100644
index 00000000..ccf613e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
@@ -0,0 +1,110 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Burst;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class BurstConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        protected IBurstConstraintsImpl m_Constraints;
+        protected Oni.ConstraintType m_ConstraintType;
+
+        protected bool m_Enabled = true;
+        protected int m_ConstraintCount = 0;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public bool enabled
+        {
+            set { m_Enabled = value; }
+            get { return m_Enabled; }
+        }
+
+        public IConstraints constraints
+        {
+            get { return m_Constraints; }
+        }
+
+        public ObiSolver solverAbstraction
+        {
+            get { return ((BurstSolverImpl)m_Constraints.solver).abstraction; }
+        }
+
+        public BurstSolverImpl solverImplementation
+        {
+            get { return (BurstSolverImpl)m_Constraints.solver; }
+        }
+
+        protected NativeArray<int> particleIndices;
+        protected NativeArray<float> lambdas;
+
+        public virtual JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            if (lambdas.IsCreated)
+            {
+                inputDeps = new ClearLambdasJob {lambdas = lambdas}.Schedule(lambdas.Length, 256, inputDeps);
+            }
+            return inputDeps;
+        }
+
+        // implemented by concrete constraint subclasses.
+        public abstract JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
+        public abstract JobHandle Apply(JobHandle inputDeps, float substepTime);
+
+        public virtual void Destroy()
+        {
+            // clean resources allocated by the batch, no need for a default implementation.
+        }
+
+        public void SetConstraintCount(int constraintCount)
+        {
+            m_ConstraintCount = constraintCount;
+        }
+        public int GetConstraintCount()
+        {
+            return m_ConstraintCount;
+        }
+
+        public static void ApplyPositionDelta(int particleIndex, float sorFactor, ref NativeArray<float4> positions, ref NativeArray<float4> deltas, ref NativeArray<int> counts)
+        {
+            if (counts[particleIndex] > 0)
+            {
+                positions[particleIndex] += deltas[particleIndex] * sorFactor / counts[particleIndex];
+                deltas[particleIndex] = float4.zero;
+                counts[particleIndex] = 0;
+            }
+        }
+
+        public static void ApplyOrientationDelta(int particleIndex, float sorFactor, ref NativeArray<quaternion> orientations, ref NativeArray<quaternion> deltas, ref NativeArray<int> counts)
+        {
+            if (counts[particleIndex] > 0)
+            {
+                quaternion q = orientations[particleIndex];
+                q.value += deltas[particleIndex].value * sorFactor / counts[particleIndex];
+                orientations[particleIndex] = math.normalize(q);
+
+                deltas[particleIndex] = new quaternion(0, 0, 0, 0);
+                counts[particleIndex] = 0;
+            }
+        }
+
+        [BurstCompile]
+        public struct ClearLambdasJob : IJobParallelFor
+        {
+            public NativeArray<float> lambdas;
+            public void Execute(int i)
+            {
+                lambdas[i] = 0;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..165c6744
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 09a081eed828341979cf470e2eca6ee0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
new file mode 100644
index 00000000..0e58ce69
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
@@ -0,0 +1,145 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IBurstConstraintsImpl : IConstraints
+    {
+        JobHandle Initialize(JobHandle inputDeps, float substepTime);
+        JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
+        void Dispose();
+
+        IConstraintsBatchImpl CreateConstraintsBatch();
+        void RemoveBatch(IConstraintsBatchImpl batch);
+    }
+
+    public abstract class BurstConstraintsImpl<T> : IBurstConstraintsImpl where T : BurstConstraintsBatchImpl
+    {
+        protected BurstSolverImpl m_Solver;
+        public List<T> batches = new List<T>();
+
+        protected Oni.ConstraintType m_ConstraintType;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public ISolverImpl solver
+        {
+            get { return m_Solver; }
+        }
+
+        public BurstConstraintsImpl(BurstSolverImpl solver, Oni.ConstraintType constraintType)
+        {
+            this.m_ConstraintType = constraintType;
+            this.m_Solver = solver;
+        }
+
+        public virtual void Dispose()
+        {
+
+        }
+
+        public abstract IConstraintsBatchImpl CreateConstraintsBatch();
+
+
+        public abstract void RemoveBatch(IConstraintsBatchImpl batch);
+
+
+        public virtual int GetConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.GetConstraintCount();
+
+            return count;
+        }
+
+        public JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            // initialize all batches in parallel:
+            if (batches.Count > 0)
+            {
+                NativeArray<JobHandle> deps = new NativeArray<JobHandle>(batches.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
+                for (int i = 0; i < batches.Count; ++i)
+                    deps[i] = batches[i].enabled ? batches[i].Initialize(inputDeps, substepTime) : inputDeps;
+
+                JobHandle result = JobHandle.CombineDependencies(deps);
+                deps.Dispose();
+
+                return result;
+            }
+
+            return inputDeps;
+        }
+
+        public JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            UnityEngine.Profiling.Profiler.BeginSample("Project");
+
+            var parameters = m_Solver.abstraction.GetConstraintParameters(m_ConstraintType);
+
+            switch(parameters.evaluationOrder)
+            {
+                case Oni.ConstraintParameters.EvaluationOrder.Sequential:
+                    inputDeps = EvaluateSequential(inputDeps, stepTime, substepTime, steps, timeLeft);
+                break;
+
+                case Oni.ConstraintParameters.EvaluationOrder.Parallel:
+                    inputDeps = EvaluateParallel(inputDeps, stepTime, substepTime, steps, timeLeft);
+                break;
+            }
+
+            UnityEngine.Profiling.Profiler.EndSample();
+            
+            return inputDeps;
+        }
+
+        protected virtual JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime,int steps, float timeLeft)
+        {
+            // evaluate and apply all batches:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
+                    inputDeps = batches[i].Apply(inputDeps, substepTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            return inputDeps;
+        }
+
+        protected virtual JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // evaluate all batches:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+
+            // then apply them:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Apply(inputDeps, substepTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+
+            return inputDeps;
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta
new file mode 100644
index 00000000..3c1af147
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta
new file mode 100644
index 00000000..b92adc0c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 60c7b29b5d2db47a68bfc9b00847af01
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+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs
new file mode 100644
index 00000000..9a4b5c58
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstChainConstraints : BurstConstraintsImpl<BurstChainConstraintsBatch>
+    {
+        public BurstChainConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstChainConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstChainConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta
new file mode 100644
index 00000000..31b28dde
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ea608f10fe5d24cb392ca8dcd960a920
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
new file mode 100644
index 00000000..2a177188
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
@@ -0,0 +1,222 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstChainConstraintsBatch : BurstConstraintsBatchImpl, IChainConstraintsBatchImpl
+    {
+        private NativeArray<int> firstIndex;
+        private NativeArray<int> numIndices;
+        private NativeArray<float2> restLengths;
+
+        public BurstChainConstraintsBatch(BurstChainConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Chain;
+        }
+
+        public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndices, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.firstIndex = firstIndex.AsNativeArray<int>();
+            this.numIndices = numIndices.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float2>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+
+            var projectConstraints = new ChainConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+                restLengths = restLengths,
+
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyChainConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ChainConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public NativeArray<float2> restLengths;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int c)
+            {
+                int numEdges = numIndices[c] - 1;
+                int first = firstIndex[c];
+                float minLength = restLengths[c].x;
+                float maxLength = restLengths[c].y;
+
+                // (ni:constraint gradient, di:desired lenght)
+                NativeArray<float4> ni = new NativeArray<float4>(numEdges, Allocator.Temp);
+
+                // calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
+                NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
+
+                for (int i = 0; i < numEdges; ++i)
+                {
+                    int edge = first + i;
+
+                    float4 p1 = positions[particleIndices[edge]];
+                    float4 p2 = positions[particleIndices[edge+1]];
+                    float4 diff = p1 - p2;
+
+                    float distance = math.length(diff);
+                    ni[i] = new float4(diff/(distance + BurstMath.epsilon));
+                }
+
+                // calculate ai, bi and ci (superdiagonals):
+                for (int i = 0; i < numEdges; ++i)
+                {
+                    int edge = first + i;
+
+                    float w_i_ = invMasses[particleIndices[edge]];
+                    float w__i = invMasses[particleIndices[edge+1]];
+
+                    float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
+                    float4 n_i_ = ni[i];
+                    float4 n__i = (i < numEdges - 1) ? ni[i + 1] : float4.zero;
+
+                    diagonals[i] = new float3(
+                                    -w_i_ * math.dot(n_i_, ni__), // ai
+                                    w_i_ + w__i,                  // bi
+                                    -w__i * math.dot(n_i_, n__i));// ci
+                }
+
+                // solve step #1, forward sweep:
+                // reuse diagonals.xy to store sweep results ci_ and di_:
+                for (int i = 0; i < numEdges; ++i)
+                {
+                    int edge = first + i;
+                    float4 p1 = positions[particleIndices[edge]];
+                    float4 p2 = positions[particleIndices[edge + 1]];
+
+                    float cip_ = (i > 0) ? diagonals[i - 1].x : 0;
+                    float dip_ = (i > 0) ? diagonals[i - 1].y : 0;
+                    float den = diagonals[i].y - cip_ * diagonals[i].x;
+
+                    float3 d = diagonals[i];
+                    if (math.abs(den) > BurstMath.epsilon)
+                    {
+                        float distance = math.distance(p1, p2);
+                        float correction = 0;
+
+                        if (distance >= maxLength)
+                            correction = distance - maxLength;
+                        else if (distance <= minLength)
+                            correction = distance - minLength;
+
+                        d.xy = new float2(d.z / den,
+                                         (correction - dip_ * d.x) / den);
+
+                    }
+                    else
+                        d.xy = float2.zero;
+
+                    diagonals[i] = d;
+                }
+
+                // solve step #2, backward sweep. reuse diagonals.z to store solution xi:
+                for (int i = numEdges - 1; i >= 0; --i)
+                {
+                    float xi_ = (i < numEdges - 1) ? diagonals[i + 1].z : 0;
+
+                    float3 d = diagonals[i];
+                    d.z = d.y - d.x * xi_;
+                    diagonals[i] = d;
+                }
+
+                // calculate deltas:
+                for (int i = 0; i < numIndices[c]; ++i)
+                {
+                    int index = first + i;
+
+                    float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
+                    float4 n_i_ = (i < numIndices[c] - 1) ? ni[i] : float4.zero;
+
+                    float xi_ = (i > 0) ? diagonals[i - 1].z : 0;
+                    float nxi = (i < numIndices[c] - 1) ? diagonals[i].z : 0;
+
+                    int p = particleIndices[index];
+                    deltas[p] += invMasses[p] * (ni__ * xi_ - n_i_ * nxi);
+                    counts[p]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyChainConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int first = firstIndex[i];
+                int last = first + numIndices[i];
+
+                for (int k = first; k < last; ++k)
+                {
+                    int p = particleIndices[k];
+                    if (counts[p] > 0)
+                    {
+                        positions[p] += deltas[p] * sorFactor / counts[p];
+                        deltas[p] = float4.zero;
+                        counts[p] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta
new file mode 100644
index 00000000..fdbcc4aa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta
new file mode 100644
index 00000000..a28d030e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0d7d6ac7f5b664d5cb7860b843e47fff
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs
new file mode 100644
index 00000000..ccaf624b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs
@@ -0,0 +1,49 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    public struct ApplyCollisionConstraintsBatchJob : IJob
+    {
+        [ReadOnly] public NativeArray<BurstContact> contacts;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+        [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+
+        public void Execute()
+        {
+            for (int i = 0; i < contacts.Length; ++i)
+            {
+                int simplexStart = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSize);
+
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+            }
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta
new file mode 100644
index 00000000..82d43c72
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f97613844b24a40899f10722bcfc4cf8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
new file mode 100644
index 00000000..b139b948
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
@@ -0,0 +1,31 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstColliderCollisionConstraints : BurstConstraintsImpl<BurstColliderCollisionConstraintsBatch>
+    {
+        public BurstColliderCollisionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstColliderCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstColliderCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta
new file mode 100644
index 00000000..2df9c312
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e31847a0e619545c0bc70258b413a42e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
new file mode 100644
index 00000000..4513a10a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
@@ -0,0 +1,344 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstColliderCollisionConstraintsBatch : BurstConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+        public BurstColliderCollisionConstraintsBatch(BurstColliderCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Collision;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            var updateContacts = new UpdateContactsJob()
+            {
+                prevPositions = solverImplementation.prevPositions,
+                prevOrientations = solverImplementation.prevOrientations,
+                velocities = solverImplementation.velocities,
+                radii = solverImplementation.principalRadii,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame
+            };
+            return updateContacts.Schedule(((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.count, 128, inputDeps);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var projectConstraints = new CollisionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverAbstraction.positionDeltas.AsNativeArray<float4>(),
+                counts = solverAbstraction.positionConstraintCounts.AsNativeArray<int>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                constraintParameters = parameters,
+                solverParameters = solverAbstraction.parameters,
+                steps = steps,
+                timeLeft = timeLeft,
+                stepTime = stepTime,
+                substepTime = substepTime
+            };
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyCollisionConstraintsBatchJob()
+            {
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        /**
+         * Updates contact data (such as contact distance) at the beginning of each substep. This is
+         * necessary because contacts are generated only once at the beginning of each step, not every substep.
+         */
+        [BurstCompile]
+        public struct UpdateContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [ReadOnly] public NativeArray<float4> rigidbodyLinearDeltas;
+            [ReadOnly] public NativeArray<float4> rigidbodyAngularDeltas;
+
+            public NativeArray<ContactEffectiveMasses> effectiveMasses;
+            public NativeArray<BurstContact> contacts;
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+
+            public void Execute(int i)
+            {
+                var contact = contacts[i];
+                var efMasses = effectiveMasses[i];
+
+                int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+
+                // get the material from the first particle in the simplex:
+                int aMaterialIndex = particleMaterialIndices[simplices[simplexStart]];
+                bool rollingContacts = aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false;
+
+                float4 relativeVelocity = float4.zero;
+                float4 simplexPrevPosition = float4.zero;
+                quaternion simplexPrevOrientation = new quaternion(0, 0, 0, 0);
+                float simplexInvMass = 0;
+                float simplexInvRotationalMass = 0;
+                float simplexRadius = 0;
+
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    relativeVelocity += velocities[particleIndex]    * contact.pointA[j];
+                    simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
+                    simplexPrevOrientation.value += prevOrientations[particleIndex].value * contact.pointA[j];
+                    simplexInvMass += invMasses[particleIndex] * contact.pointA[j];
+                    simplexInvRotationalMass = invRotationalMasses[particleIndex] * contact.pointA[j];
+                    simplexRadius += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                }
+
+                // if there's a rigidbody present, subtract its velocity from the relative velocity:
+                int rigidbodyIndex = shapes[contact.bodyB].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
+
+                    int bMaterialIndex = shapes[contact.bodyB].materialIndex;
+                    rollingContacts |= bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false;
+                }
+
+                // update contact distance
+                contact.distance = math.dot(simplexPrevPosition - contact.pointB, contact.normal) - simplexRadius;
+
+                // calculate contact point in A's surface:
+                float4 contactPoint = contact.pointB + contact.normal * contact.distance;
+
+                // calculate contact tangent (first friction direction) using relative velocity:
+                contact.CalculateTangent(relativeVelocity);
+
+                // calculate A's contact mass.
+                float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadius, simplexInvRotationalMass) + new float4(BurstMath.epsilon));
+                efMasses.CalculateContactMassesA(simplexInvMass, invInertiaTensor, simplexPrevPosition, simplexPrevOrientation, contactPoint, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
+
+                // calculate B's contact mass.
+                if (rigidbodyIndex >= 0)
+                    efMasses.CalculateContactMassesB(rigidbodies[rigidbodyIndex], inertialFrame.frame, contact.pointB, contact.normal, contact.tangent, contact.bitangent);
+                else
+                    efMasses.ClearContactMassesB();
+
+                contacts[i] = contact;
+                effectiveMasses[i] = efMasses;
+            }
+        }
+
+        [BurstCompile]
+        public struct CollisionConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            public NativeArray<float4> rigidbodyLinearDeltas;
+            public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+            [ReadOnly] public Oni.SolverParameters solverParameters;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
+
+            public void Execute()
+            {
+                for (int i = 0; i < contacts.Length; ++i)
+                {
+                    var contact = contacts[i];
+
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    int colliderIndex = contact.bodyB;
+
+                    // Skip contacts involving triggers:
+                    if (shapes[colliderIndex].isTrigger)
+                        continue;
+
+                    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                    float frameEnd = stepTime * steps;
+                    float substepsToEnd = timeLeft / substepTime;
+
+                    // Combine collision materials (use material from first particle in simplex)
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
+
+                    // Get relative velocity at contact point.
+                    // As we do not consider true ellipses for collision detection, particle contact points are never off-axis.
+                    // So particle angular velocity does not contribute to normal impulses, and we can skip it.
+                    float4 simplexPosition = float4.zero;
+                    float4 simplexPrevPosition = float4.zero;
+                    float simplexRadius = 0;
+
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexPosition += positions[particleIndex] * contact.pointA[j];
+                        simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
+                        simplexRadius += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    // project position to the end of the full step:
+                    float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substepsToEnd);
+                    posA += -contact.normal * simplexRadius;
+
+                    float4 posB = contact.pointB;
+
+                    if (rigidbodyIndex >= 0)
+                        posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame) * frameEnd;
+
+                    // adhesion:
+                    float lambda = contact.SolveAdhesion(effectiveMasses[i].TotalNormalInvMass, posA, posB, material.stickDistance, material.stickiness, stepTime);
+
+                    // depenetration:
+                    lambda += contact.SolvePenetration(effectiveMasses[i].TotalNormalInvMass, posA, posB, solverParameters.maxDepenetration * stepTime);
+
+                    // Apply normal impulse to both simplex and rigidbody:
+                    if (math.abs(lambda) > BurstMath.epsilon)
+                    {
+                        float4 delta = lambda * contact.normal * BurstMath.BaryScale(contact.pointA) / substepsToEnd;
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            int particleIndex = simplices[simplexStart + j];
+                            deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j];
+                            counts[particleIndex]++;
+                        }
+
+                        // Apply position deltas immediately, if using sequential evaluation:
+                        if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
+                        {
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                            }
+                        }
+
+                        if (rigidbodyIndex >= 0)
+                        { 
+                            BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / frameEnd * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int particleMaterialIndex = particleMaterialIndices[entityA];
+                int colliderMaterialIndex = shapes[entityB].materialIndex;
+
+                if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
+                else if (particleMaterialIndex >= 0)
+                    return collisionMaterials[particleMaterialIndex];
+                else if (colliderMaterialIndex >= 0)
+                    return collisionMaterials[colliderMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..7f8067c9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 273c5561da8534560bb9b9e8d32ae092
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
new file mode 100644
index 00000000..5d57a75e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
@@ -0,0 +1,33 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstColliderFrictionConstraints : BurstConstraintsImpl<BurstColliderFrictionConstraintsBatch>
+    {
+        public BurstColliderFrictionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstColliderFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstColliderFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta
new file mode 100644
index 00000000..08ea0075
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 00f91403e75564dc6ace566943caa172
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
new file mode 100644
index 00000000..25cb44ea
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
@@ -0,0 +1,280 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstColliderFrictionConstraintsBatch : BurstConstraintsBatchImpl, IColliderFrictionConstraintsBatchImpl
+    {
+        public BurstColliderFrictionConstraintsBatch(BurstColliderFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Friction;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new FrictionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                steps = steps,
+                stepTime = stepTime,
+                substepTime = substepTime
+            };
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyCollisionConstraintsBatchJob()
+            {
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public struct FrictionConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            public NativeArray<float4> rigidbodyLinearDeltas;
+            public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public int steps;
+
+            public void Execute()
+            {
+                for (int i = 0; i < contacts.Length; ++i)
+                {
+                    var contact = contacts[i];
+
+                    // Get the indices of the particle and collider involved in this contact:
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    int colliderIndex = contact.bodyB;
+
+                    // Skip contacts involving triggers:
+                    if (shapes[colliderIndex].isTrigger)
+                        continue;
+
+                    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                    // Combine collision materials (use material from first particle in simplex)
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
+
+                    // Calculate relative velocity:
+                    float4 rA = float4.zero, rB = float4.zero;
+
+                    float4 prevPositionA = float4.zero;
+                    float4 linearVelocityA = float4.zero;
+                    float4 angularVelocityA = float4.zero;
+                    float invRotationalMassA = 0;
+                    quaternion orientationA = new quaternion(0, 0, 0, 0);
+                    float4 simplexRadiiA = float4.zero;
+
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        prevPositionA    += prevPositions[particleIndex] * contact.pointA[j];
+                        linearVelocityA  += BurstIntegration.DifferentiateLinear(positions[particleIndex],prevPositions[particleIndex], substepTime) * contact.pointA[j];
+                        angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
+                        invRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
+                        orientationA.value += orientations[particleIndex].value * contact.pointA[j];
+                        simplexRadiiA += radii[particleIndex] * contact.pointA[j];
+                    }
+ 
+                    float4 relativeVelocity = linearVelocityA;
+
+                    // Add particle angular velocity if rolling contacts are enabled:
+                    if (material.rollingContacts > 0)
+                    {
+                        rA = -contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationA, simplexRadiiA.xyz);
+                        relativeVelocity += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
+                    }
+
+                    // Subtract rigidbody velocity:
+                    if (rigidbodyIndex >= 0)
+                    {
+                        // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
+                        rB = inertialFrame.frame.TransformPoint(contact.pointB) - rigidbodies[rigidbodyIndex].com;
+                        relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
+                    }
+
+                    // Determine impulse magnitude:
+                    float2 impulses = contact.SolveFriction(effectiveMasses[i].TotalTangentInvMass, effectiveMasses[i].TotalBitangentInvMass, relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+                    if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
+                    {
+                        float4 tangentImpulse   = impulses.x * contact.tangent;
+                        float4 bitangentImpulse = impulses.y * contact.bitangent;
+                        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            int particleIndex = simplices[simplexStart + j];
+                            deltas[particleIndex] += (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale; 
+                            counts[particleIndex]++;
+                        }
+
+                        if (rigidbodyIndex >= 0)
+                        {
+                            BurstMath.ApplyImpulse(rigidbodyIndex, -totalImpulse, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        }
+
+                        // Rolling contacts:
+                        if (material.rollingContacts > 0)
+                        {
+                            // Calculate angular velocity deltas due to friction impulse:
+                            float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiA, invRotationalMassA) + new float4(BurstMath.epsilon));
+                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensor, orientationA);
+
+                            float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
+                            float4 angVelDeltaB = float4.zero;
+
+                            // Final angular velocities, after adding the deltas:
+                            angularVelocityA += angVelDeltaA;
+                            float4 angularVelocityB = float4.zero;
+
+                            // Calculate weights (inverse masses):
+                            float invMassA = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
+                            float invMassB = 0;
+
+                            if (rigidbodyIndex >= 0)
+                            {
+                                angVelDeltaB = math.mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
+                                angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
+                                invMassB = math.length(math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, math.normalizesafe(angularVelocityB)));
+                            }
+
+                            // Calculate rolling axis and angular velocity deltas:
+                            float4 rollAxis = float4.zero;
+                            float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
+                            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+                            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+                            // Apply orientation delta to particles:
+                            quaternion orientationDelta = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                quaternion qA = orientationDeltas[particleIndex];
+                                qA.value += orientationDelta.value;
+                                orientationDeltas[particleIndex] = qA;
+                                orientationCounts[particleIndex]++;
+                            }
+
+                            // Apply angular velocity delta to rigidbody:
+                            if (rigidbodyIndex >= 0)
+                            {
+                                float4 angularDelta = rigidbodyAngularDeltas[rigidbodyIndex];
+                                angularDelta += angVelDeltaB;
+                                rigidbodyAngularDeltas[rigidbodyIndex] = angularDelta;
+                            }
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int particleMaterialIndex = particleMaterialIndices[entityA];
+                int colliderMaterialIndex = shapes[entityB].materialIndex;
+
+                if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
+                else if (particleMaterialIndex >= 0)
+                    return collisionMaterials[particleMaterialIndex];
+                else if (colliderMaterialIndex >= 0)
+                    return collisionMaterials[colliderMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..fb3228fd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta
new file mode 100644
index 00000000..10b4e12b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta
@@ -0,0 +1,8 @@
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
new file mode 100644
index 00000000..268f204a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
@@ -0,0 +1,502 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstDensityConstraints : BurstConstraintsImpl<BurstDensityConstraintsBatch>
+    {
+        public NativeList<int> fluidParticles;
+
+        public BurstDensityConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Density)
+        {
+            fluidParticles = new NativeList<int>(Allocator.Persistent);
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstDensityConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void Dispose()
+        {
+            fluidParticles.Dispose();
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstDensityConstraintsBatch);
+            batch.Destroy();
+        }
+
+        protected override JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            return EvaluateParallel(inputDeps, stepTime, substepTime, steps, timeLeft);
+        }
+
+        protected override JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            inputDeps = UpdateInteractions(inputDeps);
+
+            // evaluate all batches as a chain of dependencies:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            // calculate per-particle density lambdas:
+            inputDeps = CalculateLambdas(inputDeps, substepTime);
+
+            // calculate viscosity/vorticity:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].ViscosityAndVorticity(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            // apply viscosity/vorticity positional deltas:
+            var app = new ApplyPositionDeltasJob()
+            {
+                fluidParticles = fluidParticles,
+                positions = m_Solver.positions,
+                orientations = m_Solver.orientations,
+                prevOrientations = m_Solver.prevOrientations,
+                deltas = m_Solver.positionDeltas,
+                counts = m_Solver.positionConstraintCounts,
+                anisotropies = m_Solver.anisotropies,
+                normals = m_Solver.normals
+            };
+
+            inputDeps = app.Schedule(fluidParticles.Length, 64, inputDeps);
+
+            // apply density positional deltas::
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Apply(inputDeps, substepTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            return inputDeps;
+        }
+
+        public JobHandle ApplyVelocityCorrections(JobHandle inputDeps, float deltaTime)
+        {
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].CalculateNormals(inputDeps, deltaTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            inputDeps = ApplyAtmosphere(inputDeps, deltaTime);
+            m_Solver.ScheduleBatchedJobsIfNeeded();
+
+            return inputDeps;
+        }
+
+        public JobHandle CalculateAnisotropyLaplacianSmoothing(JobHandle inputDeps)
+        {
+            // if the constraints are deactivated or we need no anisotropy:
+            if (((BurstSolverImpl)solver).abstraction.parameters.maxAnisotropy <= 1)
+                return inputDeps;
+
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].AccumulateSmoothPositions(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            inputDeps = AverageSmoothPositions(inputDeps);
+
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].AccumulateAnisotropy(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+             
+            return AverageAnisotropy(inputDeps);
+        }
+
+        private JobHandle UpdateInteractions(JobHandle inputDeps)
+        {
+            // clear existing fluid data:
+            var clearData = new ClearFluidDataJob()
+            {
+                fluidParticles = fluidParticles,
+                fluidData = m_Solver.fluidData,
+                massCenters = m_Solver.normals,
+                prevMassCenters = m_Solver.renderablePositions,
+                moments = m_Solver.anisotropies
+            };
+
+            inputDeps = clearData.Schedule(fluidParticles.Length, 64, inputDeps);
+
+            // update fluid interactions:
+            var updateInteractions = new UpdateInteractionsJob()
+            {
+                pairs = m_Solver.fluidInteractions,
+                positions = m_Solver.positions,
+                fluidMaterials = m_Solver.fluidMaterials,
+                densityKernel = new Poly6Kernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                gradientKernel = new SpikyKernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+            };
+
+            return updateInteractions.Schedule(((BurstSolverImpl)solver).fluidInteractions.Length, 64, inputDeps);
+        }
+
+        private JobHandle CalculateLambdas(JobHandle inputDeps, float deltaTime)
+        {
+            // calculate lagrange multipliers:
+            var calculateLambdas = new CalculateLambdasJob()
+            {
+                fluidParticles = fluidParticles,
+                positions = m_Solver.positions,
+                prevPositions = m_Solver.prevPositions,
+                orientations = m_Solver.orientations,
+                principalRadii = m_Solver.principalRadii,
+                fluidMaterials = m_Solver.fluidMaterials,
+                densityKernel = new Poly6Kernel(m_Solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                gradientKernel = new SpikyKernel(m_Solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                fluidData = m_Solver.fluidData,
+
+                massCenters = m_Solver.normals,
+                prevMassCenters = m_Solver.renderablePositions,
+                moments = m_Solver.anisotropies,
+
+                deltas = m_Solver.positionDeltas,
+                counts = m_Solver.positionConstraintCounts,
+
+                solverParams = m_Solver.abstraction.parameters
+            };
+
+            return calculateLambdas.Schedule(fluidParticles.Length,64,inputDeps);
+        }
+
+        private JobHandle ApplyAtmosphere(JobHandle inputDeps, float deltaTime)
+        {
+            var conf = new ApplyAtmosphereJob()
+            {
+                fluidParticles = fluidParticles,
+                wind = m_Solver.wind,
+                fluidInterface = m_Solver.fluidInterface,
+                fluidMaterials = m_Solver.fluidMaterials,
+                principalRadii = m_Solver.principalRadii,
+                normals = m_Solver.normals,
+                fluidData = m_Solver.fluidData,
+                velocities = m_Solver.velocities,
+                dt = deltaTime,
+                solverParams = m_Solver.abstraction.parameters
+            };
+
+            return conf.Schedule(fluidParticles.Length, 64, inputDeps);
+        }
+
+        private JobHandle AverageSmoothPositions(JobHandle inputDeps)
+        {
+            var average = new AverageSmoothPositionsJob()
+            {
+                fluidParticles = fluidParticles,
+                renderablePositions = m_Solver.renderablePositions,
+                anisotropies = m_Solver.anisotropies
+            };
+
+            return average.Schedule(fluidParticles.Length, 64, inputDeps);
+        }
+
+        private JobHandle AverageAnisotropy(JobHandle inputDeps)
+        {
+            var average = new AverageAnisotropyJob()
+            {
+                fluidParticles = fluidParticles,
+                renderablePositions = m_Solver.renderablePositions,
+                renderableOrientations = m_Solver.renderableOrientations,
+                principalRadii = m_Solver.principalRadii,
+                anisotropies = m_Solver.anisotropies,
+                maxAnisotropy = m_Solver.abstraction.parameters.maxAnisotropy,
+                renderableRadii = m_Solver.renderableRadii,
+                fluidData = m_Solver.fluidData,
+                solverParams = m_Solver.abstraction.parameters
+            };
+
+            return average.Schedule(fluidParticles.Length, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ClearFluidDataJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
+
+            public void Execute(int i)
+            {
+                int p = fluidParticles[i];
+                fluidData[p] = float4.zero;
+                massCenters[p] = float4.zero;
+                prevMassCenters[p] = float4.zero;
+                moments[p] = float4x4.zero;
+            }
+        }
+
+        [BurstCompile]
+        public struct UpdateInteractionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public SpikyKernel gradientKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int i)
+            {
+                var pair = pairs[i];
+
+                // calculate normalized gradient vector:
+                pair.gradient = new float4((positions[pair.particleA] - positions[pair.particleB]).xyz,0);
+                float distance = math.length(pair.gradient);
+                pair.gradient /= distance + math.FLT_MIN_NORMAL;
+
+                // calculate and store average density and gradient kernels:
+                pair.avgKernel = (densityKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                  densityKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
+
+                pair.avgGradient = (gradientKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                    gradientKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
+
+                pairs[i] = pair;
+            }
+        }
+
+        [BurstCompile]
+        public struct CalculateLambdasJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public SpikyKernel gradientKernel;
+
+            [ReadOnly] public Oni.SolverParameters solverParams;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                float restVolume = math.pow(principalRadii[i].x * 2, 3 - (int)solverParams.mode);
+                float4 data = fluidData[i];
+
+                float grad = restVolume * gradientKernel.W(0, fluidMaterials[i].x);
+
+                // self particle contribution to density, gradient and mass centers:
+                data += new float4(densityKernel.W(0, fluidMaterials[i].x), 0, grad, grad * grad + data[2] * data[2]);
+                massCenters[i] += new float4(positions[i].xyz, 1) / positions[i].w;
+                prevMassCenters[i] += new float4(prevPositions[i].xyz, 1) / positions[i].w;
+
+                // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+                // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+                // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+                float constraint = math.max(0, data[0] * restVolume - 1);
+
+                // calculate lambda:
+                data[1] = -constraint / (positions[i].w * data[3] + math.FLT_MIN_NORMAL);
+
+                fluidData[i] = data;
+
+                // get total neighborhood mass:
+                float M = massCenters[i][3];
+                massCenters[i] /= massCenters[i][3];
+                prevMassCenters[i] /= prevMassCenters[i][3];
+
+                // update moments:
+                moments[i] += (BurstMath.multrnsp4(positions[i], prevPositions[i]) + float4x4.identity * math.pow(principalRadii[i].x, 2) * 0.2f) / positions[i].w;
+                moments[i] -= M * BurstMath.multrnsp4(massCenters[i], prevMassCenters[i]);
+
+                // extract neighborhood orientation delta:
+                orientations[i] = BurstMath.ExtractRotation(moments[i], quaternion.identity, 2);
+
+                // viscosity and vorticity:
+                float4 viscGoal = new float4(massCenters[i].xyz + math.rotate(orientations[i], (prevPositions[i] - prevMassCenters[i]).xyz), 0);
+                float4 vortGoal = new float4(massCenters[i].xyz + math.rotate(orientations[i], (positions[i] - massCenters[i]).xyz), 0);
+                deltas[i] += (viscGoal - positions[i]) * fluidMaterials[i].z;
+                deltas[i] += (vortGoal - positions[i]) * fluidMaterials[i].w * 0.1f;
+
+                counts[i]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyPositionDeltasJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                if (counts[i] > 0)
+                {
+                    positions[i] += new float4(deltas[i].xyz,0) / counts[i];
+                    deltas[i] = float4.zero;
+                    counts[i] = 0;
+                }
+
+                normals[i] = float4.zero;
+                anisotropies[i] = float4x4.zero;
+
+                orientations[i] = math.mul(orientations[i], prevOrientations[i]);
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyAtmosphereJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> wind;
+            [ReadOnly] public NativeArray<float4> fluidInterface;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> normals;
+            [ReadOnly] public NativeArray<float4> fluidData;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+            [ReadOnly] public float dt;
+            [ReadOnly] public Oni.SolverParameters solverParams;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                float restVolume = math.pow(principalRadii[i].x * 2, 3 - (int)solverParams.mode);
+
+                //atmospheric drag:
+                float4 velocityDiff = velocities[i] - wind[i];
+
+                // particles near the surface should experience drag:
+                velocities[i] -= fluidInterface[i].x * velocityDiff * math.max(0, 1 - fluidData[i][0] * restVolume) * dt;
+
+                // ambient pressure:
+                velocities[i] += fluidInterface[i].y * normals[i] * dt;
+            }
+        }
+
+        [BurstCompile]
+        public struct AverageSmoothPositionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                var smoothPos = anisotropies[i];
+
+                if (smoothPos.c3.w > 0)
+                    smoothPos.c3 /= smoothPos.c3.w;
+                else
+                    smoothPos.c3.xyz = renderablePositions[i].xyz;
+
+                anisotropies[i] = smoothPos;
+            }
+        }
+
+        [BurstCompile]
+        public struct AverageAnisotropyJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public float maxAnisotropy;
+            [ReadOnly] public NativeArray<float4x4> anisotropies;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> renderablePositions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> renderableOrientations;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> renderableRadii;
+
+            [ReadOnly] public Oni.SolverParameters solverParams;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                if (anisotropies[i].c3.w > 0 && (anisotropies[i].c0[0] + anisotropies[i].c1[1] + anisotropies[i].c2[2]) > 0.01f)
+                {
+                    float3 singularValues;
+                    float3x3 u;
+                    BurstMath.EigenSolve(math.float3x3(anisotropies[i] / anisotropies[i].c3.w), out singularValues, out u);
+
+                    float max = singularValues[0];
+                    float3 s = math.max(singularValues,new float3(max / maxAnisotropy)) / max * principalRadii[i].x;
+
+                    renderableOrientations[i] = quaternion.LookRotationSafe(u.c2,u.c1);
+                    renderableRadii[i] = new float4(s.xyz,1);
+                }
+                else
+                {
+                    float radius = principalRadii[i].x / maxAnisotropy;
+                    renderableOrientations[i] = quaternion.identity;
+                    renderableRadii[i] = new float4(radius,radius,radius,1);
+
+                    float4 data = fluidData[i];
+                    data.x = 1 / math.pow(math.abs(radius * 2), 3 - (int)solverParams.mode); // normal volume of an isolated particle.
+                    fluidData[i] = data;
+                }
+
+                renderablePositions[i] = math.lerp(renderablePositions[i], anisotropies[i].c3, math.min((maxAnisotropy - 1)/3.0f,1));
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta
new file mode 100644
index 00000000..6099508e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df96ac4db14c846ea99a6ebc5771098f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
new file mode 100644
index 00000000..29a13eed
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
@@ -0,0 +1,403 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstDensityConstraintsBatch : BurstConstraintsBatchImpl, IDensityConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstDensityConstraintsBatch(BurstDensityConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Density;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+
+            // update densities and gradients:
+            var updateDensities = new UpdateDensitiesJob()
+            {
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
+                fluidData = solverImplementation.fluidData,
+                moments = solverImplementation.anisotropies,
+                massCenters = solverImplementation.normals,
+                prevMassCenters = solverImplementation.renderablePositions,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                batchData = batchData,
+                solverParams = solverAbstraction.parameters
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return updateDensities.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            // update densities and gradients:
+            var apply = new ApplyDensityConstraintsJob()
+            {
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                positions = solverImplementation.positions,
+                fluidData = solverImplementation.fluidData,
+                batchData = batchData,
+                solverParams = solverAbstraction.parameters,
+                sorFactor = parameters.SORFactor
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return apply.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle CalculateNormals(JobHandle inputDeps, float deltaTime)
+        {
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+
+            var vorticity = new NormalsJob()
+            {
+                invMasses = solverImplementation.invMasses,
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
+                fluidData = solverImplementation.fluidData,
+                fluidInterface = solverImplementation.fluidInterface,
+                userData = solverImplementation.userData,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                normals = solverImplementation.normals,
+                batchData = batchData,
+                dt = deltaTime,
+            };
+
+            return vorticity.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle ViscosityAndVorticity(JobHandle inputDeps)
+        {
+            var eta = new ViscosityVorticityJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                massCenters = solverImplementation.normals,
+                prevMassCenters = solverImplementation.renderablePositions,
+                fluidParams = solverImplementation.fluidMaterials,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return eta.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle AccumulateSmoothPositions(JobHandle inputDeps)
+        {
+            var accumulateSmooth = new AccumulateSmoothPositionsJob()
+            {
+                renderablePositions = solverImplementation.renderablePositions,
+                anisotropies = solverImplementation.anisotropies,
+                fluidMaterials = solverImplementation.fluidMaterials,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return accumulateSmooth.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle AccumulateAnisotropy(JobHandle inputDeps)
+        {
+            var accumulateAnisotropy = new AccumulateAnisotropyJob()
+            {
+                renderablePositions = solverImplementation.renderablePositions,
+                anisotropies = solverImplementation.anisotropies,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return accumulateAnisotropy.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct UpdateDensitiesJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public BatchData batchData;
+
+            [ReadOnly] public Oni.SolverParameters solverParams;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
+
+                    float gradA = restVolumeB * pair.avgGradient;
+                    float gradB = restVolumeA * pair.avgGradient;
+
+                    float vA = restVolumeB / restVolumeA;
+                    float vB = restVolumeA / restVolumeB;
+
+                    // accumulate pbf data (density, gradients):
+                    fluidData[pair.particleA] += new float4(vA * pair.avgKernel, 0, gradA, gradA * gradA);
+                    fluidData[pair.particleB] += new float4(vB * pair.avgKernel, 0, gradB, gradB * gradB);
+
+                    // accumulate masses for COMs and moment matrices:
+                    float wAvg = pair.avgKernel / ((densityKernel.W(0, fluidMaterials[pair.particleA].x) + densityKernel.W(0, fluidMaterials[pair.particleB].x)) * 0.5f);
+
+                    massCenters[pair.particleA] += wAvg * new float4(positions[pair.particleB].xyz, 1) / positions[pair.particleB].w;
+                    massCenters[pair.particleB] += wAvg * new float4(positions[pair.particleA].xyz, 1) / positions[pair.particleA].w;
+
+                    prevMassCenters[pair.particleA] += wAvg * new float4(prevPositions[pair.particleB].xyz, 1) / positions[pair.particleB].w;
+                    prevMassCenters[pair.particleB] += wAvg * new float4(prevPositions[pair.particleA].xyz, 1) / positions[pair.particleA].w;
+
+                    moments[pair.particleA] += wAvg * (BurstMath.multrnsp4(positions[pair.particleB], prevPositions[pair.particleB]) + float4x4.identity * math.pow(principalRadii[pair.particleB].x, 2) * 0.2f) / positions[pair.particleB].w;
+                    moments[pair.particleB] += wAvg * (BurstMath.multrnsp4(positions[pair.particleA], prevPositions[pair.particleA]) + float4x4.identity * math.pow(principalRadii[pair.particleA].x, 2) * 0.2f) / positions[pair.particleA].w;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyDensityConstraintsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public CohesionKernel cohesionKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            [ReadOnly] public BatchData batchData;
+            [ReadOnly] public float sorFactor;
+            [ReadOnly] public Oni.SolverParameters solverParams;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
+
+                    float dist = math.length(positions[pair.particleA].xyz - positions[pair.particleB].xyz); // TODO: FIX! we cant read positions while we are writing to them.
+
+                    // calculate tensile instability correction factor:
+                    float cAvg = (cohesionKernel.W(dist, fluidMaterials[pair.particleA].x * 1.4f) + cohesionKernel.W(dist, fluidMaterials[pair.particleB].x * 1.4f)) * 0.5f;
+                    float st = 0.2f * cAvg * (1 - math.saturate(math.abs(fluidMaterials[pair.particleA].y - fluidMaterials[pair.particleB].y))) * (fluidMaterials[pair.particleA].y + fluidMaterials[pair.particleB].y) * 0.5f;
+                    float scorrA = -st / (positions[pair.particleA].w * fluidData[pair.particleA][3] + math.FLT_MIN_NORMAL);
+                    float scorrB = -st / (positions[pair.particleB].w * fluidData[pair.particleB][3] + math.FLT_MIN_NORMAL);
+
+                    // calculate position delta:
+                    float4 delta = pair.gradient * pair.avgGradient * ((fluidData[pair.particleA][1] + scorrA) * restVolumeB + (fluidData[pair.particleB][1] + scorrB) * restVolumeA) * sorFactor;
+                    delta.w = 0;
+                    positions[pair.particleA] += delta * positions[pair.particleA].w;
+                    positions[pair.particleB] -= delta * positions[pair.particleB].w;
+
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ViscosityVorticityJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float4> fluidParams;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    // viscosity:
+                    float4 goalA = new float4(massCenters[pair.particleB].xyz + math.rotate(orientations[pair.particleB], (prevPositions[pair.particleA] - prevMassCenters[pair.particleB]).xyz), 0);
+                    float4 goalB = new float4(massCenters[pair.particleA].xyz + math.rotate(orientations[pair.particleA], (prevPositions[pair.particleB] - prevMassCenters[pair.particleA]).xyz), 0);
+                    deltas[pair.particleA] += (goalA - positions[pair.particleA]) * fluidParams[pair.particleB].z;
+                    deltas[pair.particleB] += (goalB - positions[pair.particleB]) * fluidParams[pair.particleA].z;
+
+                    // vorticity:
+                    goalA = new float4(massCenters[pair.particleB].xyz + math.rotate(orientations[pair.particleB], (positions[pair.particleA] - massCenters[pair.particleB]).xyz), 0);
+                    goalB = new float4(massCenters[pair.particleA].xyz + math.rotate(orientations[pair.particleA], (positions[pair.particleB] - massCenters[pair.particleA]).xyz), 0);
+                    deltas[pair.particleA] += (goalA - positions[pair.particleA]) * fluidParams[pair.particleB].w * 0.1f;
+                    deltas[pair.particleB] += (goalB - positions[pair.particleB]) * fluidParams[pair.particleA].w * 0.1f;
+
+                    counts[pair.particleA]++;
+                    counts[pair.particleB]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct NormalsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<float4> fluidInterface;
+            [ReadOnly] public NativeArray<float4> fluidData;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> userData;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+
+            [ReadOnly] public BatchData batchData;
+            [ReadOnly] public Oni.SolverParameters solverParams;
+            [ReadOnly] public float dt;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
+
+                    // property diffusion:
+                    float diffusionSpeed = (fluidInterface[pair.particleA].w + fluidInterface[pair.particleB].w) * pair.avgKernel * dt;
+                    float4 userDelta = (userData[pair.particleB] - userData[pair.particleA]) * diffusionSpeed;
+                    userData[pair.particleA] += restVolumeB / restVolumeA * userDelta;
+                    userData[pair.particleB] -= restVolumeA / restVolumeB * userDelta;
+
+                    // calculate color field  normal:
+                    float4 vgrad = pair.gradient * pair.avgGradient;
+                    float radius = (fluidMaterials[pair.particleA].x + fluidMaterials[pair.particleB].x) * 0.5f;
+                    normals[pair.particleA] += vgrad * radius * restVolumeB;
+                    normals[pair.particleB] -= vgrad * radius * restVolumeA;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct AccumulateSmoothPositionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public Poly6Kernel densityKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float distance = math.length((renderablePositions[pair.particleA] - renderablePositions[pair.particleB]).xyz);
+
+                    pair.avgKernel = (densityKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                      densityKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
+
+                    var A = anisotropies[pair.particleA];
+                    var B = anisotropies[pair.particleB];
+
+                    A.c3 += new float4(renderablePositions[pair.particleB].xyz,1) * pair.avgKernel;
+                    B.c3 += new float4(renderablePositions[pair.particleA].xyz,1) * pair.avgKernel;
+
+                    anisotropies[pair.particleA] = A;
+                    anisotropies[pair.particleB] = B;
+
+                    pairs[i] = pair;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct AccumulateAnisotropyJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float4 distanceA = (renderablePositions[pair.particleB] - anisotropies[pair.particleA].c3) * pair.avgKernel;
+                    float4 distanceB = (renderablePositions[pair.particleA] - anisotropies[pair.particleB].c3) * pair.avgKernel;
+
+                    anisotropies[pair.particleA] += BurstMath.multrnsp4(distanceA,distanceA);
+                    anisotropies[pair.particleB] += BurstMath.multrnsp4(distanceB,distanceB);
+                }
+            }
+        }
+
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta
new file mode 100644
index 00000000..f1d82202
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8292e6ef6129f47abaee4fb2cb49055e
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta
new file mode 100644
index 00000000..4f0f6fa9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta
@@ -0,0 +1,8 @@
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+guid: 5a128a7c745c84794a944362f49011fc
+folderAsset: yes
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs
new file mode 100644
index 00000000..ed30bdf3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs
@@ -0,0 +1,15 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct CohesionKernel
+    {
+        public float W(float r, float h)
+        {
+            return math.cos(math.min(r, h) * 3 * math.PI / (2 * h));
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta
new file mode 100644
index 00000000..9278cced
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d2bcf975ae59e4fcf9412ec328a3e2b9
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs
new file mode 100644
index 00000000..412f3b18
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs
@@ -0,0 +1,36 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct Poly6Kernel
+    {
+        public float norm;
+        public bool norm2D;
+
+        public Poly6Kernel(bool norm2D)
+        {
+            this.norm2D = norm2D;
+            if (norm2D)
+                norm = 4.0f / math.PI;
+            else
+                norm = 315.0f / (64.0f * math.PI);
+        }
+
+        public float W(float r, float h)
+        {
+            float h2 = h * h;
+            float h4 = h2 * h2;
+            float h8 = h4 * h4;
+
+            float rl = math.min(r, h);
+            float hr = h2 - rl * rl;
+
+            if (norm2D)
+                return norm / h8 * hr * hr * hr;
+            return norm / (h8 * h) * hr * hr * hr;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta
new file mode 100644
index 00000000..ccf53314
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7a3990134524143ac852b488554f6d4e
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs
new file mode 100644
index 00000000..113fbc6b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs
@@ -0,0 +1,35 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct SpikyKernel
+    {
+        public float norm;
+        public bool norm2D;
+
+        public SpikyKernel(bool norm2D)
+        {
+            this.norm2D = norm2D;
+            if (norm2D)
+                norm = -30.0f / math.PI;
+            else
+                norm = -45.0f / math.PI;
+        }
+
+        public float W(float r, float h)
+        {
+            float h2 = h * h;
+            float h4 = h2 * h2;
+
+            float rl = math.min(r, h);
+            float hr = h - rl;
+
+            if (norm2D)
+                return norm / (h4 * h) * hr * hr;
+            return norm / (h4 * h2) * hr * hr;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta
new file mode 100644
index 00000000..d80dd5a9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta
@@ -0,0 +1,11 @@
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+guid: a407989bfa0664e9ab75773d1808f549
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta
new file mode 100644
index 00000000..4f562f2d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta
@@ -0,0 +1,8 @@
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+guid: 725436c3a327442cd8b06889111f9b8f
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs
new file mode 100644
index 00000000..66ed256b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstDistanceConstraints : BurstConstraintsImpl<BurstDistanceConstraintsBatch>
+    {
+        public BurstDistanceConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstDistanceConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstDistanceConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta
new file mode 100644
index 00000000..57833469
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: af06abf9c29a04274842dbcb65a2a753
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
new file mode 100644
index 00000000..4d83f2e4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
@@ -0,0 +1,146 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstDistanceConstraintsBatch : BurstConstraintsBatchImpl, IDistanceConstraintsBatchImpl
+    {
+        private NativeArray<float> restLengths;
+        private NativeArray<float2> stiffnesses;
+
+        DistanceConstraintsBatchJob projectConstraints;
+        ApplyDistanceConstraintsBatchJob applyConstraints;
+
+        public BurstDistanceConstraintsBatch(BurstDistanceConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Distance;
+        }
+
+        public void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+
+            projectConstraints.particleIndices = this.particleIndices;
+            projectConstraints.restLengths = this.restLengths;
+            projectConstraints.stiffnesses = this.stiffnesses;
+            projectConstraints.lambdas = this.lambdas;
+
+            applyConstraints.particleIndices = this.particleIndices;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            projectConstraints.positions = solverImplementation.positions;
+            projectConstraints.invMasses = solverImplementation.invMasses;
+            projectConstraints.deltas = solverImplementation.positionDeltas;
+            projectConstraints.counts = solverImplementation.positionConstraintCounts;
+            projectConstraints.deltaTimeSqr = substepTime * substepTime;
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            applyConstraints.positions = solverImplementation.positions;
+            applyConstraints.deltas = solverImplementation.positionDeltas;
+            applyConstraints.counts = solverImplementation.positionConstraintCounts;
+            applyConstraints.sorFactor = parameters.SORFactor;
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile] 
+        public struct DistanceConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float> restLengths;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+
+                float w1 = invMasses[p1];
+                float w2 = invMasses[p2];
+
+                // calculate time adjusted compliance
+                float compliance = stiffnesses[i].x / deltaTimeSqr;
+
+                // calculate position and lambda deltas:
+                float4 distance = positions[p1] - positions[p2];
+                float d = math.length(distance);
+
+                // calculate constraint value:
+                float constraint = d - restLengths[i];
+                constraint -= math.max(math.min(constraint, 0), -stiffnesses[i].y);
+
+                // calculate lambda and position deltas:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
+                float4 delta = dlambda * distance / (d + BurstMath.epsilon);
+
+                lambdas[i] += dlambda;
+
+                deltas[p1] += delta * w1;
+                deltas[p2] -= delta * w2;
+
+                counts[p1]++;
+                counts[p2]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyDistanceConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+
+                if (counts[p1] > 0)
+                {
+                    positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                    deltas[p1] = float4.zero;
+                    counts[p1] = 0;
+                }
+
+                if (counts[p2] > 0)
+                {
+                    positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                    deltas[p2] = float4.zero;
+                    counts[p2] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta
new file mode 100644
index 00000000..5c4e478c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta
new file mode 100644
index 00000000..18a7fb3c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta
@@ -0,0 +1,8 @@
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+guid: 66103ca5acc86407cab9aa94d1e6d1fd
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs
new file mode 100644
index 00000000..170e0840
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs
@@ -0,0 +1,62 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    public struct ApplyBatchedCollisionConstraintsBatchJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<BurstContact> contacts;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+        [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+        [ReadOnly] public BatchData batchData;
+
+        public void Execute(int workItemIndex)
+        {
+            int start, end;
+            batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+            for (int i = start; i < end; ++i)
+            {
+                int simplexStartA = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSizeA);
+                int simplexStartB = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyB, out int simplexSizeB);
+
+                for (int j = 0; j < simplexSizeA; ++j)
+                {
+                    int particleIndex = simplices[simplexStartA + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+
+                for (int j = 0; j < simplexSizeB; ++j)
+                {
+                    int particleIndex = simplices[simplexStartB + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+
+            }
+            
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta
new file mode 100644
index 00000000..5b2e6ce6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 96623cff9b30e4504a4a6dbfe3d19ace
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
new file mode 100644
index 00000000..5401abd7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
@@ -0,0 +1,32 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class BurstParticleCollisionConstraints : BurstConstraintsImpl<BurstParticleCollisionConstraintsBatch>
+    {
+        public BurstParticleCollisionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleCollision)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstParticleCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstParticleCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            return ((BurstSolverImpl)solver).abstraction.particleContacts.count;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta
new file mode 100644
index 00000000..41c44704
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8ef36a05943714c1db8f9ee0b28e9c51
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
new file mode 100644
index 00000000..e7dafeee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
@@ -0,0 +1,344 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstParticleCollisionConstraintsBatch : BurstConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstParticleCollisionConstraintsBatch(BurstParticleCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleCollision;
+        }
+
+        public BurstParticleCollisionConstraintsBatch(BatchData batchData) : base()
+        {
+            this.batchData = batchData;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            var updateContacts = new UpdateParticleContactsJob()
+            {
+                prevPositions = solverImplementation.prevPositions,
+                prevOrientations = solverImplementation.prevOrientations,
+                velocities = solverImplementation.velocities,
+                radii = solverImplementation.principalRadii,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return updateContacts.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var projectConstraints = new ParticleCollisionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                orientations = solverImplementation.orientations,
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+                batchData = batchData,
+
+                constraintParameters = parameters,
+                solverParameters = solverImplementation.abstraction.parameters,
+                gravity = new float4(solverImplementation.abstraction.parameters.gravity, 0),
+                substepTime = substepTime,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyBatchedCollisionConstraintsBatchJob()
+            {
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                batchData = batchData,
+                constraintParameters = parameters,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return applyConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        /**
+         * Updates contact data (contact distance and frame) at the beginning of each substep. This is
+         * necessary because contacts are generated only once at the beginning of each step, not every substep.
+         */
+        [BurstCompile]
+        public struct UpdateParticleContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<ContactEffectiveMasses> effectiveMasses;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+                    var efMasses = effectiveMasses[i];
+
+                    int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
+                    int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
+
+                    float4 simplexVelocityA = float4.zero;
+                    float4 simplexPrevPositionA = float4.zero;
+                    quaternion simplexPrevOrientationA = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusA = 0;
+                    float simplexInvMassA = 0;
+                    float simplexInvRotationalMassA = 0;
+
+                    float4 simplexVelocityB = float4.zero;
+                    float4 simplexPrevPositionB = float4.zero;
+                    quaternion simplexPrevOrientationB = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusB = 0;
+                    float simplexInvMassB = 0;
+                    float simplexInvRotationalMassB = 0;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        simplexVelocityA += velocities[particleIndex] * contact.pointA[j];
+                        simplexPrevPositionA += prevPositions[particleIndex] * contact.pointA[j];
+                        simplexPrevOrientationA.value += prevOrientations[particleIndex].value * contact.pointA[j];
+                        simplexInvMassA += invMasses[particleIndex] * contact.pointA[j];
+                        simplexInvRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
+                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        simplexVelocityB += velocities[particleIndex] * contact.pointB[j];
+                        simplexPrevPositionB += prevPositions[particleIndex] * contact.pointB[j];
+                        simplexPrevOrientationB.value += prevOrientations[particleIndex].value * contact.pointB[j];
+                        simplexInvMassB += invMasses[particleIndex] * contact.pointB[j];
+                        simplexInvRotationalMassB += invRotationalMasses[particleIndex] * contact.pointB[j];
+                        simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointB[j];
+                    }
+
+                    // update contact distance
+                    float dAB = math.dot(simplexPrevPositionA - simplexPrevPositionB, contact.normal);
+                    contact.distance = dAB - (simplexRadiusA + simplexRadiusB);
+
+                    // calculate contact points:
+                    float4 contactPointA = simplexPrevPositionB + contact.normal * (contact.distance + simplexRadiusB);
+                    float4 contactPointB = simplexPrevPositionA - contact.normal * (contact.distance + simplexRadiusA);
+
+                    // update contact basis:
+                    contact.CalculateTangent(simplexVelocityA - simplexVelocityB);
+
+                    // update contact masses:
+                    int aMaterialIndex = particleMaterialIndices[simplices[simplexStartA]];
+                    int bMaterialIndex = particleMaterialIndices[simplices[simplexStartB]];
+                    bool rollingContacts = (aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false) |
+                                           (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
+
+                    float4 invInertiaTensorA = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiusA, simplexInvRotationalMassA) + new float4(BurstMath.epsilon));
+                    float4 invInertiaTensorB = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiusB, simplexInvRotationalMassB) + new float4(BurstMath.epsilon));
+
+                    efMasses.CalculateContactMassesA(simplexInvMassA, invInertiaTensorA, simplexPrevPositionA, simplexPrevOrientationA, contactPointA, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
+                    efMasses.CalculateContactMassesB(simplexInvMassB, invInertiaTensorB, simplexPrevPositionB, simplexPrevOrientationB, contactPointB, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
+
+                    contacts[i] = contact;
+                    effectiveMasses[i] = efMasses;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ParticleCollisionConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
+
+            [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+            [ReadOnly] public Oni.SolverParameters solverParameters;
+            [ReadOnly] public float4 gravity;
+            [ReadOnly] public float substepTime;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+
+                    int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
+                    int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
+
+
+                    // Combine collision materials:
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStartA], simplices[simplexStartB]);
+
+                    float4 simplexPositionA = float4.zero, simplexPositionB = float4.zero;
+                    float simplexRadiusA = 0, simplexRadiusB = 0;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        simplexPositionA += positions[particleIndex] * contact.pointA[j];
+                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        simplexPositionB += positions[particleIndex] * contact.pointB[j];
+                        simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    float4 posA = simplexPositionA - contact.normal * simplexRadiusA;
+                    float4 posB = simplexPositionB + contact.normal * simplexRadiusB;
+
+                    // adhesion:
+                    float lambda = contact.SolveAdhesion(effectiveMasses[i].TotalNormalInvMass, posA, posB, material.stickDistance, material.stickiness, substepTime);
+
+                    // depenetration:
+                    lambda += contact.SolvePenetration(effectiveMasses[i].TotalNormalInvMass, posA, posB, solverParameters.maxDepenetration * substepTime);
+
+                    // Apply normal impulse to both particles (w/ shock propagation):
+                    if (math.abs(lambda) > BurstMath.epsilon)
+                    {
+                        float shock = solverParameters.shockPropagation * math.dot(contact.normal, math.normalizesafe(gravity));
+                        float4 delta = lambda * contact.normal;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        for (int j = 0; j < simplexSizeA; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartA + j];
+                            deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j] * baryScale * (1 - shock);
+                            counts[particleIndex]++;
+                        }
+
+                        baryScale = BurstMath.BaryScale(contact.pointB);
+                        for (int j = 0; j < simplexSizeB; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartB + j];
+                            deltas[particleIndex] -= delta * invMasses[particleIndex] * contact.pointB[j] * baryScale * (1 + shock);
+                            counts[particleIndex]++;
+                        }
+                    }
+
+                    // Apply position deltas immediately, if using sequential evaluation:
+                    if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
+                    {
+                        for (int j = 0; j < simplexSizeA; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartA + j];
+                            BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                        }
+
+                        for (int j = 0; j < simplexSizeB; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartB + j];
+                            BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int aMaterialIndex = particleMaterialIndices[entityA];
+                int bMaterialIndex = particleMaterialIndices[entityB];
+
+                if (aMaterialIndex >= 0 && bMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[aMaterialIndex], collisionMaterials[bMaterialIndex]);
+                else if (aMaterialIndex >= 0)
+                    return collisionMaterials[aMaterialIndex];
+                else if (bMaterialIndex >= 0)
+                    return collisionMaterials[bMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..18a62f38
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61f5c3e93290646948b251d617f01c8d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
new file mode 100644
index 00000000..0eda6086
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
@@ -0,0 +1,31 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstParticleFrictionConstraints : BurstConstraintsImpl<BurstParticleFrictionConstraintsBatch>
+    {
+        public BurstParticleFrictionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleFriction)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstParticleFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstParticleFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            return ((BurstSolverImpl)solver).abstraction.particleContacts.count;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta
new file mode 100644
index 00000000..b28ae4e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 63dade0c384ee4c1398ddf4d60038764
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
new file mode 100644
index 00000000..b98aacc1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
@@ -0,0 +1,289 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstParticleFrictionConstraintsBatch : BurstConstraintsBatchImpl, IParticleFrictionConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstParticleFrictionConstraintsBatch(BurstParticleFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleFriction;
+        }
+
+        public BurstParticleFrictionConstraintsBatch(BatchData batchData) : base()
+        {
+            this.batchData = batchData;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+
+            var projectConstraints = new ParticleFrictionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
+
+                batchData = batchData,
+                substepTime = substepTime,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyBatchedCollisionConstraintsBatchJob()
+            {
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return applyConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ParticleFrictionConstraintsBatchJob : IJobParallelFor
+        {
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
+
+            [ReadOnly] public BatchData batchData;
+            [ReadOnly] public float substepTime;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+
+                    int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
+                    int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
+
+                    // Combine collision materials:
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStartA], simplices[simplexStartB]);
+
+                    float4 prevPositionA = float4.zero;
+                    float4 linearVelocityA = float4.zero;
+                    float4 angularVelocityA = float4.zero;
+                    float invRotationalMassA = 0;
+                    quaternion orientationA = new quaternion(0, 0, 0, 0);
+                    float4 simplexRadiiA = float4.zero;
+
+                    float4 prevPositionB = float4.zero;
+                    float4 linearVelocityB = float4.zero;
+                    float4 angularVelocityB = float4.zero;
+                    float invRotationalMassB = 0;
+                    quaternion orientationB = new quaternion(0, 0, 0, 0);
+                    float4 simplexRadiiB = float4.zero;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        prevPositionA += prevPositions[particleIndex] * contact.pointA[j];
+                        linearVelocityA += BurstIntegration.DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contact.pointA[j];
+                        angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
+                        invRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
+                        orientationA.value += orientations[particleIndex].value * contact.pointA[j];
+                        simplexRadiiA += radii[particleIndex] * contact.pointA[j];
+                    }
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        prevPositionB += prevPositions[particleIndex] * contact.pointB[j];
+                        linearVelocityB += BurstIntegration.DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contact.pointB[j];
+                        angularVelocityB += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointB[j];
+                        invRotationalMassB += invRotationalMasses[particleIndex] * contact.pointB[j];
+                        orientationB.value += orientations[particleIndex].value * contact.pointB[j];
+                        simplexRadiiB += radii[particleIndex] * contact.pointB[j];
+                    }
+
+                    float4 rA = float4.zero, rB = float4.zero;
+
+                    // Consider angular velocities if rolling contacts are enabled:
+                    if (material.rollingContacts > 0)
+                    {
+                        rA = -contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationA, simplexRadiiA.xyz);
+                        rB = contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationB, simplexRadiiB.xyz);
+
+                        linearVelocityA += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
+                        linearVelocityB += new float4(math.cross(angularVelocityB.xyz, rB.xyz), 0);
+                    }
+
+                    // Calculate relative velocity:
+                    float4 relativeVelocity = linearVelocityA - linearVelocityB;
+
+                    // Calculate friction impulses (in the tangent and bitangent directions):
+                    float2 impulses = contact.SolveFriction(effectiveMasses[i].TotalTangentInvMass, effectiveMasses[i].TotalBitangentInvMass, relativeVelocity, material.staticFriction, material.dynamicFriction, substepTime);
+
+                    // Apply friction impulses to both particles:
+                    if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
+                    {
+                        float4 tangentImpulse = impulses.x * contact.tangent;
+                        float4 bitangentImpulse = impulses.y * contact.bitangent;
+                        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        for (int j = 0; j < simplexSizeA; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartA + j];
+                            deltas[particleIndex] += (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale;
+                            counts[particleIndex]++;
+                        }
+
+                        baryScale = BurstMath.BaryScale(contact.pointB);
+                        for (int j = 0; j < simplexSizeB; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartB + j];
+                            deltas[particleIndex] -= (tangentImpulse * effectiveMasses[i].tangentInvMassB + bitangentImpulse * effectiveMasses[i].bitangentInvMassB) * substepTime * contact.pointB[j] * baryScale;
+                            counts[particleIndex]++;
+                        }
+
+                        // Rolling contacts:
+                        if (material.rollingContacts > 0)
+                        {
+                            float4 invInertiaTensorA = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiA, invRotationalMassA) + new float4(BurstMath.epsilon));
+                            float4 invInertiaTensorB = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiB, invRotationalMassB) + new float4(BurstMath.epsilon));
+
+                            // Calculate angular velocity deltas due to friction impulse:
+                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
+                            float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(invInertiaTensorB, orientationB);
+
+                            float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
+                            float4 angVelDeltaB = -math.mul(solverInertiaB, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
+
+                            // Final angular velocities, after adding the deltas:
+                            angularVelocityA += angVelDeltaA;
+                            angularVelocityB += angVelDeltaB;
+
+                            // Calculate weights (inverse masses):
+                            float invMassA = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
+                            float invMassB = math.length(math.mul(solverInertiaB, math.normalizesafe(angularVelocityB)));
+
+                            // Calculate rolling axis and angular velocity deltas:
+                            float4 rollAxis = float4.zero;
+                            float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
+                            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+                            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+                            // Apply orientation deltas to particles:
+                            quaternion orientationDeltaA = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+                            quaternion orientationDeltaB = BurstIntegration.AngularVelocityToSpinQuaternion(orientationB, angVelDeltaB, substepTime);
+
+                            for (int j = 0; j < simplexSizeA; ++j)
+                            {
+                                int particleIndex = simplices[simplexStartA + j];
+                                quaternion qA = orientationDeltas[particleIndex];
+                                qA.value += orientationDeltaA.value;
+                                orientationDeltas[particleIndex] = qA;
+                                orientationCounts[particleIndex]++;
+                            }
+
+                            for (int j = 0; j < simplexSizeB; ++j)
+                            {
+                                int particleIndex = simplices[simplexStartB + j];
+                                quaternion qB = orientationDeltas[particleIndex];
+                                qB.value += orientationDeltaB.value;
+                                orientationDeltas[particleIndex] = qB;
+                                orientationCounts[particleIndex]++;
+                            }
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int aMaterialIndex = particleMaterialIndices[entityA];
+                int bMaterialIndex = particleMaterialIndices[entityB];
+
+                if (aMaterialIndex >= 0 && bMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[aMaterialIndex], collisionMaterials[bMaterialIndex]);
+                else if (aMaterialIndex >= 0)
+                    return collisionMaterials[aMaterialIndex];
+                else if (bMaterialIndex >= 0)
+                    return collisionMaterials[bMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..17dfb971
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 9a942dd261ea741b69997eba73462034
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta
new file mode 100644
index 00000000..d0bbb0cf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dcbc7b9bf37704bd3945f0fb82506bfb
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
new file mode 100644
index 00000000..53004013
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstPinConstraints : BurstConstraintsImpl<BurstPinConstraintsBatch>
+    {
+        public BurstPinConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Pin)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstPinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstPinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta
new file mode 100644
index 00000000..8a357a98
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 73ae545b061fa4db988fd3b64410fc6d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
new file mode 100644
index 00000000..498ab984
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
@@ -0,0 +1,354 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections.Generic;
+using System.Threading;
+
+namespace Obi
+{
+    public class BurstPinConstraintsBatch : BurstConstraintsBatchImpl, IPinConstraintsBatchImpl
+    {
+        private NativeArray<int> colliderIndices;
+        private NativeArray<float4> offsets;
+        private NativeArray<quaternion> restDarbouxVectors;
+        private NativeArray<float2> stiffnesses;
+
+        public BurstPinConstraintsBatch(BurstPinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Pin;
+        }
+
+        public void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.colliderIndices = colliderIndices.AsNativeArray<int>();
+            this.offsets = offsets.AsNativeArray<float4>();
+            this.restDarbouxVectors = restDarbouxVectors.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            var clearPins = new ClearPinsJob
+            {
+                colliderIndices = colliderIndices,
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+            };
+            inputDeps = clearPins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            var updatePins = new UpdatePinsJob
+            {
+                colliderIndices = colliderIndices,
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+            };
+            inputDeps = updatePins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            // clear lambdas:
+            return base.Initialize(inputDeps, substepTime);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new PinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                colliderIndices = colliderIndices,
+                offsets = offsets,
+                stiffnesses = stiffnesses,
+                restDarboux = restDarbouxVectors,
+                lambdas = lambdas.Reinterpret<float, float4>(),
+
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                invMasses = solverImplementation.invMasses,
+                orientations = solverImplementation.orientations,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                stepTime = stepTime,
+                steps = steps,
+                substepTime = substepTime,
+                timeLeft = timeLeft,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 16, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyPinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor,
+                activeConstraintCount = m_ConstraintCount,
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public unsafe struct ClearPinsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            public void Execute(int i)
+            {
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Exchange(ref arr[rigidbodyIndex].constraintCount, 0);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct UpdatePinsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            public void Execute(int i)
+            {
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Increment(ref arr[rigidbodyIndex].constraintCount);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct PinConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> colliderIndices;
+
+            [ReadOnly] public NativeArray<float4> offsets;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            [ReadOnly] public NativeArray<quaternion> restDarboux;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyLinearDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute(int i)
+            {
+                int particleIndex = particleIndices[i];
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                float frameEnd = stepTime * steps;
+                float substepsToEnd = timeLeft / substepTime;
+
+                // calculate time adjusted compliances
+                float2 compliances = stiffnesses[i].xy / (substepTime * substepTime);
+
+                // project particle position to the end of the full step:
+                float4 particlePosition = math.lerp(prevPositions[particleIndex], positions[particleIndex], substepsToEnd);
+
+                // express pin offset in world space:
+                float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+                float4 predictedPinOffset = worldPinOffset;
+                quaternion predictedRotation = transforms[colliderIndex].rotation;
+
+                float rigidbodyLinearW = 0;
+                float rigidbodyAngularW = 0;
+
+                if (rigidbodyIndex >= 0)
+                {
+                    var rigidbody = rigidbodies[rigidbodyIndex];
+
+                    // predict rigidbody transform:
+                    var predictedTrfm = transforms[colliderIndex].Integrate(rigidbody.velocity + rigidbodyLinearDeltas[rigidbodyIndex],
+                                                                            rigidbody.angularVelocity + rigidbodyAngularDeltas[rigidbodyIndex], frameEnd);
+
+                    // predict offset point position and rb rotation at the end of the step:
+                    predictedPinOffset = predictedTrfm.TransformPoint(offsets[i]);
+                    predictedRotation = predictedTrfm.rotation;
+
+                    // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+                    rigidbodyLinearW = rigidbody.inverseMass * rigidbody.constraintCount;
+                    rigidbodyAngularW = BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor,
+                                                                    worldPinOffset - rigidbody.com,
+                                                                    math.normalizesafe(inertialFrame.frame.TransformPoint(particlePosition) - predictedPinOffset)) * rigidbody.constraintCount;
+
+                }
+
+                // Transform pin position to solver space for constraint solving:
+                predictedPinOffset = inertialFrame.frame.InverseTransformPoint(predictedPinOffset);
+                predictedRotation = math.mul(math.conjugate(inertialFrame.frame.rotation), predictedRotation);
+
+                float4 gradient = particlePosition - predictedPinOffset;
+                float constraint = math.length(gradient);
+                float4 gradientDir = gradient / (constraint + BurstMath.epsilon);
+
+                float4 lambda = lambdas[i];
+                float linearDLambda = (-constraint - compliances.x * lambda.w) / (invMasses[particleIndex] + rigidbodyLinearW + rigidbodyAngularW + compliances.x + BurstMath.epsilon);
+                lambda.w += linearDLambda;
+                float4 correction = linearDLambda * gradientDir;
+
+                deltas[particleIndex] += correction * invMasses[particleIndex] / substepsToEnd;
+                counts[particleIndex]++;
+
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstMath.ApplyImpulse(rigidbodyIndex,
+                                            -correction / frameEnd,
+                                            inertialFrame.frame.InverseTransformPoint(worldPinOffset),
+                                            rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                }
+                     
+                if (rigidbodyAngularW > 0 || invRotationalMasses[particleIndex] > 0)
+                {
+                    // bend/twist constraint:
+                    quaternion omega = math.mul(math.conjugate(orientations[particleIndex]), predictedRotation);   //darboux vector
+
+                    quaternion omega_plus;
+                    omega_plus.value = omega.value + restDarboux[i].value;  //delta Omega with - omega_0
+                    omega.value -= restDarboux[i].value;                    //delta Omega with + omega_0
+                    if (math.lengthsq(omega.value.xyz) > math.lengthsq(omega_plus.value.xyz))
+                        omega = omega_plus;
+
+                    float3 dlambda = (omega.value.xyz - compliances.y * lambda.xyz) / (compliances.y + invRotationalMasses[particleIndex] + rigidbodyAngularW + BurstMath.epsilon);
+                    lambda.xyz += dlambda;
+
+                    //discrete Darboux vector does not have vanishing scalar part
+                    quaternion dlambdaQ = new quaternion(dlambda[0], dlambda[1], dlambda[2], 0);
+
+                    quaternion orientDelta = orientationDeltas[particleIndex];
+                    orientDelta.value += math.mul(predictedRotation, dlambdaQ).value * invRotationalMasses[particleIndex] / substepsToEnd;
+                    orientationDeltas[particleIndex] = orientDelta;
+                    orientationCounts[particleIndex]++;
+
+                    if (rigidbodyIndex >= 0)
+                    {
+                        BurstMath.ApplyDeltaQuaternion(rigidbodyIndex,
+                                                        predictedRotation,
+                                                        -math.mul(orientations[particleIndex], dlambdaQ).value * rigidbodyAngularW,
+                                                        rigidbodyAngularDeltas, inertialFrame.frame, frameEnd);
+                    }
+                }
+
+                lambdas[i] = lambda;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyPinConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    int p1 = particleIndices[i];
+
+                    if (counts[p1] > 0)
+                    {
+                        positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                        deltas[p1] = float4.zero;
+                        counts[p1] = 0;
+                    }
+
+                    if (orientationCounts[p1] > 0)
+                    {
+                        quaternion q = orientations[p1];
+                        q.value += orientationDeltas[p1].value * sorFactor / orientationCounts[p1];
+                        orientations[p1] = math.normalize(q);
+
+                        orientationDeltas[p1] = new quaternion(0, 0, 0, 0);
+                        orientationCounts[p1] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..36ea9d25
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a383dd79fc24448059bb45283b12a52b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta
new file mode 100644
index 00000000..63ebf86a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bf9959ac1dc214a0799c42583ae2cbdb
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs
new file mode 100644
index 00000000..562da3ad
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstShapeMatchingConstraints : BurstConstraintsImpl<BurstShapeMatchingConstraintsBatch>
+    {
+        public BurstShapeMatchingConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ShapeMatching)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstShapeMatchingConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstShapeMatchingConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta
new file mode 100644
index 00000000..4827c585
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cf31f7a95aadc4c85a69a3400ba30608
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
new file mode 100644
index 00000000..27899b25
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,472 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstShapeMatchingConstraintsBatch : BurstConstraintsBatchImpl, IShapeMatchingConstraintsBatchImpl
+    {
+        private NativeArray<int> firstIndex;
+        private NativeArray<int> numIndices;
+        private NativeArray<int> explicitGroup;
+        private NativeArray<float> shapeMaterialParameters;
+        private NativeArray<float4>     restComs;
+        private NativeArray<float4>     coms;
+        private NativeArray<quaternion> constraintOrientations;
+
+        private NativeArray<float4x4> Aqq;
+        private NativeArray<float4x4> linearTransforms;
+        private NativeArray<float4x4> plasticDeformations;
+
+        private bool m_RecalculateRestShape = false;
+
+        public BurstShapeMatchingConstraintsBatch(BurstShapeMatchingConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ShapeMatching;
+        }
+
+        public void SetShapeMatchingConstraints(ObiNativeIntList particleIndices,
+                                                ObiNativeIntList firstIndex,
+                                                ObiNativeIntList numIndices,
+                                                ObiNativeIntList explicitGroup,
+                                                ObiNativeFloatList shapeMaterialParameters,
+                                                ObiNativeVector4List restComs,
+                                                ObiNativeVector4List coms,
+                                                ObiNativeQuaternionList constraintOrientations,
+                                                ObiNativeMatrix4x4List linearTransforms,
+                                                ObiNativeMatrix4x4List plasticDeformations,
+                                                ObiNativeFloatList lambdas,
+                                                int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.firstIndex = firstIndex.AsNativeArray<int>();
+            this.numIndices = numIndices.AsNativeArray<int>();
+            this.explicitGroup = explicitGroup.AsNativeArray<int>();
+            this.shapeMaterialParameters = shapeMaterialParameters.AsNativeArray<float>();
+            this.restComs = restComs.AsNativeArray<float4>();
+            this.coms = coms.AsNativeArray<float4>();
+            this.constraintOrientations = constraintOrientations.AsNativeArray<quaternion>();
+            this.linearTransforms = linearTransforms.AsNativeArray<float4x4>();
+            this.plasticDeformations = plasticDeformations.AsNativeArray<float4x4>();
+
+            if (Aqq.IsCreated)
+                Aqq.Dispose();
+
+            Aqq = new NativeArray<float4x4>(count,Allocator.Persistent);
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            if (Aqq.IsCreated)
+                Aqq.Dispose();
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_RecalculateRestShape)
+            {
+                m_RecalculateRestShape = false;
+
+                var calculateRest = new ShapeMatchingCalculateRestJob()
+                {
+                    particleIndices = particleIndices,
+                    firstIndex = firstIndex,
+                    numIndices = numIndices,
+                    restComs = restComs,
+                    coms = coms,
+                    Aqq = Aqq,
+                    deformation = plasticDeformations,
+
+                    restPositions = solverAbstraction.restPositions.AsNativeArray<float4>(),
+                    restOrientations = solverAbstraction.restOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = solverAbstraction.principalRadii.AsNativeArray<float4>(),
+                    invMasses = solverAbstraction.invMasses.AsNativeArray<float>(),
+                    invRotationalMasses = solverAbstraction.invRotationalMasses.AsNativeArray<float>(),
+                };
+
+                inputDeps = calculateRest.Schedule(numIndices.Length, 64, inputDeps);
+            }
+
+            var projectConstraints = new ShapeMatchingConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+                explicitGroup = explicitGroup,
+                shapeMaterialParameters = shapeMaterialParameters,
+                restComs = restComs,
+                coms = coms,
+                constraintOrientations = constraintOrientations,
+                Aqq = Aqq,
+                linearTransforms = linearTransforms,
+                deformation = plasticDeformations,
+
+                positions = solverImplementation.positions,
+                restPositions = solverImplementation.restPositions,
+                orientations = solverImplementation.orientations,
+                restOrientations = solverImplementation.restOrientations,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+                principalRadii = solverImplementation.principalRadii,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyShapeMatchingConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        public void CalculateRestShapeMatching()
+        {
+            m_RecalculateRestShape = true;
+        }
+
+        protected static void RecalculateRestData(int i,
+                                                  ref NativeArray<int> particleIndices,
+                                                  ref NativeArray<int> firstIndex,
+                                                  ref NativeArray<float4> restComs,
+                                                  ref NativeArray<float4x4> Aqq,
+                                                  ref NativeArray<float4x4> deformation,
+                                                  ref NativeArray<int> numIndices,
+                                                  ref NativeArray<float> invMasses,
+                                                  ref NativeArray<float> invRotationalMasses,
+                                                  ref NativeArray<float4> restPositions,
+                                                  ref NativeArray<quaternion> restOrientations,
+                                                  ref NativeArray<float4> principalRadii)
+        {
+            int k = 0;
+            float maximumMass = 10000;
+
+            // initialize rest center of mass and shape matrix:
+            restComs[i] = float4.zero;
+            Aqq[i] = float4x4.zero;
+
+            float4 restCom = float4.zero;
+            float4x4 _Aqq = float4x4.zero, _Rqq = float4x4.zero;
+
+            // calculate rest center of mass, shape mass and Aqq matrix.
+            for (int j = 0; j < numIndices[i]; ++j)
+            {
+                k = particleIndices[firstIndex[i] + j];
+
+                float mass = maximumMass;
+                if (invMasses[k] > 1.0f / maximumMass)
+                    mass = 1.0f / invMasses[k];
+
+                restCom += restPositions[k] * mass;
+
+                float4x4 particleR = restOrientations[k].toMatrix();
+                particleR[3][3] = 0;
+
+                _Rqq += math.mul(particleR,
+                                 math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
+                                 math.transpose(particleR))
+                                );
+
+                float4 restPosition = restPositions[k];
+                restPosition[3] = 0;
+
+                _Aqq += mass * BurstMath.multrnsp4(restPosition, restPosition);
+
+            }
+
+
+            if (restCom[3] < BurstMath.epsilon)
+                return;
+
+            restCom.xyz /= restCom[3];
+            restComs[i] = restCom;
+
+            restCom[3] = 0;
+            _Aqq -= restComs[i][3] * BurstMath.multrnsp4(restCom, restCom);
+            _Aqq[3][3] = 1; // so that the determinant is never 0 due to all-zeros row/column.
+
+            Aqq[i] = math.inverse(_Rqq + math.mul(deformation[i], math.mul(_Aqq, math.transpose(deformation[i]))));
+        }
+
+        [BurstCompile]
+        public struct ShapeMatchingCalculateRestJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            public NativeArray<float4> restComs;
+            [ReadOnly] public NativeArray<float4> coms;
+
+            public NativeArray<float4x4> Aqq;
+            [ReadOnly] public NativeArray<float4x4> deformation;
+
+            [ReadOnly] public NativeArray<float4> restPositions;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+
+            public void Execute(int i)
+            {
+                RecalculateRestData(i,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref invRotationalMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref principalRadii);
+            }
+        }
+
+        [BurstCompile]
+        public struct ShapeMatchingConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public NativeArray<int> explicitGroup;
+            [ReadOnly] public NativeArray<float> shapeMaterialParameters;
+            public NativeArray<float4> restComs;
+            public NativeArray<float4> coms;
+            public NativeArray<quaternion> constraintOrientations;
+
+            public NativeArray<float4x4> Aqq;
+            public NativeArray<float4x4> linearTransforms;
+            public NativeArray<float4x4> deformation;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> restPositions;
+
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                int k;
+                float maximumMass = 10000;
+
+                coms[i] = float4.zero;
+                float4x4 Apq = float4x4.zero, Rpq = float4x4.zero;
+
+                // calculate shape mass, center of mass, and moment matrix:
+                for (int j = 0; j < numIndices[i]; ++j)
+                {
+                    k = particleIndices[firstIndex[i] + j];
+
+                    float mass = maximumMass;
+                    if (invMasses[k] > 1.0f / maximumMass)
+                        mass = 1.0f / invMasses[k];
+
+                    coms[i] += positions[k] * mass;
+
+                    float4x4 particleR = orientations[k].toMatrix();
+                    float4x4 particleRT = restOrientations[k].toMatrix();
+                    particleR[3][3] = 0;
+                    particleRT[3][3] = 0;
+
+                    Rpq += math.mul(particleR,
+                                    math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
+                                    math.transpose(particleRT))
+                                    );
+
+                    float4 restPosition = restPositions[k];
+                    restPosition[3] = 0;
+
+                    Apq += mass * BurstMath.multrnsp4(positions[k], restPosition);
+                }
+
+                if (restComs[i][3] < BurstMath.epsilon)
+                    return;
+
+                coms[i] /= restComs[i][3];
+
+                // subtract global shape moment:
+                float4 restCom = restComs[i];
+                restCom[3] = 0;
+
+                Apq -= restComs[i][3] * BurstMath.multrnsp4(coms[i], restCom);
+
+                // calculate optimal transform including plastic deformation:
+                float4x4 Apq_def = Rpq + math.mul(Apq , math.transpose(deformation[i]));
+                Apq_def[3][3] = 1;
+
+                // reconstruct full best-matching linear transform:
+                linearTransforms[i] = math.mul(Apq_def, Aqq[i]);
+
+                // extract rotation from transform matrix, using warmstarting and few iterations:
+                constraintOrientations[i] = BurstMath.ExtractRotation(Apq_def, constraintOrientations[i], 5);
+
+                // finally, obtain rotation matrix:
+                float4x4 R = constraintOrientations[i].toMatrix();
+                R[3][3] = 0;
+
+                // calculate particle orientations:
+                if (explicitGroup[i] > 0)
+                {
+                    // if the group is explicit, set the orientation for all particles:
+                    for (int j = 0; j < numIndices[i]; ++j)
+                    {
+                        k = particleIndices[firstIndex[i] + j];
+                        orientations[k] = math.mul(constraintOrientations[i], restOrientations[k]);
+                    }
+                }
+                else
+                {
+                    // set orientation of center particle only:
+                    int centerIndex = particleIndices[firstIndex[i]];
+                    orientations[centerIndex] = math.mul(constraintOrientations[i], restOrientations[centerIndex]);
+                }
+
+                // calculate and accumulate particle goal positions:
+                float4 goal;
+                float4x4 transform = math.mul(R,deformation[i]);
+                for (int j = 0; j < numIndices[i]; ++j)
+                {
+                    k = particleIndices[firstIndex[i] + j];
+                    goal = coms[i] + math.mul(transform, restPositions[k] - restComs[i]);
+                    deltas[k] += (goal - positions[k]) * shapeMaterialParameters[i * 5];
+                    counts[k]++;
+                }
+
+                // update plastic deformation:
+                float plastic_yield = shapeMaterialParameters[i * 5 + 1];
+                float plastic_creep = shapeMaterialParameters[i * 5 + 2];
+                float plastic_recovery = shapeMaterialParameters[i * 5 + 3];
+                float max_deform = shapeMaterialParameters[i * 5 + 4];
+
+                // if we are allowed to absorb deformation:
+                if (plastic_creep > 0)
+                {
+                    R[3][3] = 1;
+
+                    // get scale matrix (A = RS so S = Rt * A) and its deviation from the identity matrix:
+                    float4x4 deform_matrix = math.mul(math.transpose(R), linearTransforms[i]) - float4x4.identity;
+
+                    // if the amount of deformation exceeds the yield threshold:
+                    float norm = deform_matrix.frobeniusNorm();
+                    if (norm > plastic_yield)
+                    {
+                        // deform the shape permanently:
+                        deformation[i] = math.mul(float4x4.identity + plastic_creep * deform_matrix, deformation[i]);
+
+                        // clamp deformation so that it does not exceed a percentage;
+                        deform_matrix = deformation[i] - float4x4.identity;
+                        norm = deform_matrix.frobeniusNorm();
+                        if (norm > max_deform)
+                        {
+                            deformation[i] = float4x4.identity + max_deform * deform_matrix / norm;
+                        }
+
+                        // if we cannot recover from plastic deformation, recalculate rest shape now:
+                        if (plastic_recovery == 0)
+                            RecalculateRestData(i,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref invRotationalMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref principalRadii);
+                    }
+                }
+
+                // if we can recover from plastic deformation, lerp towards non-deformed shape and recalculate rest shape:
+                if (plastic_recovery > 0)
+                {
+                    deformation[i] += (float4x4.identity - deformation[i]) * math.min(plastic_recovery * deltaTime, 1.0f);
+                    RecalculateRestData(i,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref invRotationalMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref principalRadii);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyShapeMatchingConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int first = firstIndex[i];
+                int last = first + numIndices[i];
+
+                for (int k = first; k < last; ++k)
+                {
+                    int p = particleIndices[k];
+                    if (counts[p] > 0)
+                    {
+                        positions[p] += deltas[p] * sorFactor / counts[p];
+                        deltas[p] = float4.zero;
+                        counts[p] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 00000000..aedc5627
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5a532b712a8e34bf8a610d420174d9b9
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta
new file mode 100644
index 00000000..b8d49053
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: da67648eb6cfe43fbb5574da14d23dc6
+folderAsset: yes
+DefaultImporter:
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+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs
new file mode 100644
index 00000000..e823e01c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstSkinConstraints : BurstConstraintsImpl<BurstSkinConstraintsBatch>
+    {
+        public BurstSkinConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Skin)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstSkinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstSkinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta
new file mode 100644
index 00000000..65f8d748
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f501f9a4acdd34395a31db88db413cb7
+MonoImporter:
+  externalObjects: {}
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+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
new file mode 100644
index 00000000..85d1a979
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
@@ -0,0 +1,151 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstSkinConstraintsBatch : BurstConstraintsBatchImpl, ISkinConstraintsBatchImpl
+    {
+        private NativeArray<float4> skinPoints;
+        private NativeArray<float4> skinNormals;
+        private NativeArray<float> skinRadiiBackstop;
+        private NativeArray<float> skinCompliance;
+
+        public BurstSkinConstraintsBatch(BurstSkinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Skin;
+        }
+
+        public void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.skinPoints = skinPoints.AsNativeArray<float4>();
+            this.skinNormals = skinNormals.AsNativeArray<float4>();
+            this.skinRadiiBackstop = skinRadiiBackstop.AsNativeArray<float>();
+            this.skinCompliance = skinCompliance.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new SkinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                skinPoints = skinPoints,
+                skinNormals = skinNormals,
+                skinRadiiBackstop = skinRadiiBackstop.Reinterpret<float, float3>(),
+                skinCompliance = skinCompliance,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplySkinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct SkinConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float4> skinPoints;
+            [ReadOnly] public NativeArray<float4> skinNormals;
+            [ReadOnly] public NativeArray<float3> skinRadiiBackstop;
+            [ReadOnly] public NativeArray<float> skinCompliance;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                float radius = skinRadiiBackstop[i].x;
+                float collisionRadius = skinRadiiBackstop[i].y;
+                float backstopDistance = collisionRadius + skinRadiiBackstop[i].z;
+
+                float compliance = skinCompliance[i] / deltaTimeSqr;
+                int p = particleIndices[i];
+
+                if (invMasses[p] > 0)
+                {
+                    float4 toSkin = positions[p] - skinPoints[i];
+                    float4 toBackstop = positions[p] - (skinPoints[i] - skinNormals[i] * backstopDistance);
+
+                    // distance to skin and backstop sphere centers:
+                    float d = math.length(toSkin);
+                    float b = math.length(toBackstop);
+
+                    // constrain particle within skin radius.
+                    // ignore mass in the equations (use 1), as we don't want particle mass to interfere with skin compliance.
+                    // We should be able to adjust skin properties and particle mass (for collisions) independently.
+                    float constraint = math.max(0,d - radius);
+                    float dlambda = (-constraint - compliance * lambdas[i]) / (1 + compliance); 
+                    lambdas[i] += dlambda;
+                    deltas[p] += dlambda * toSkin / (d + BurstMath.epsilon);
+                    counts[p]++;
+
+                    // constrain particle outside the backstop sphere (0 compliance):
+                    constraint = math.min(0, b - collisionRadius);
+                    deltas[p] -= constraint * toBackstop / (b + BurstMath.epsilon); 
+                }
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplySkinConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i];
+
+                if (counts[p1] > 0)
+                {
+                    positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                    deltas[p1] = float4.zero;
+                    counts[p1] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..8bb9f764
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b78797a70a67646fe84c09d533a1bba9
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta
new file mode 100644
index 00000000..90264746
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5d27732f644a64569a0e8a1595d1f2a7
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs
new file mode 100644
index 00000000..2856d130
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstStitchConstraints : BurstConstraintsImpl<BurstStitchConstraintsBatch>
+    {
+        public BurstStitchConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Stitch)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstStitchConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstStitchConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta
new file mode 100644
index 00000000..8282ae03
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c0e33ed168e3c497b96274c765a12550
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
new file mode 100644
index 00000000..934e06c4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
@@ -0,0 +1,152 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstStitchConstraintsBatch : BurstConstraintsBatchImpl, IStitchConstraintsBatchImpl
+    {
+        private NativeArray<float> stiffnesses;
+
+        public BurstStitchConstraintsBatch(BurstStitchConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Stitch;
+        }
+
+        public void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new StitchConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyStitchConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public struct StitchConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    int p1 = particleIndices[i * 2];
+                    int p2 = particleIndices[i * 2 + 1];
+
+                    float w1 = invMasses[p1];
+                    float w2 = invMasses[p2];
+
+                    // calculate time adjusted compliance
+                    float compliance = stiffnesses[i] / deltaTimeSqr;
+
+                    // calculate position and lambda deltas:
+                    float4 distance = positions[p1] - positions[p2];
+                    float constraint = math.length(distance);
+
+                    // calculate lambda and position deltas:
+                    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
+                    float4 delta = dlambda * distance / (constraint + BurstMath.epsilon);
+
+                    lambdas[i] += dlambda;
+
+                    deltas[p1] += delta * w1;
+                    deltas[p2] -= delta * w2;
+
+                    counts[p1]++;
+                    counts[p2]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyStitchConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    int p1 = particleIndices[i * 2];
+                    int p2 = particleIndices[i * 2 + 1];
+
+                    if (counts[p1] > 0)
+                    {
+                        positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                        deltas[p1] = float4.zero;
+                        counts[p1] = 0;
+                    }
+
+                    if (counts[p2] > 0)
+                    {
+                        positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                        deltas[p2] = float4.zero;
+                        counts[p2] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs.meta
new file mode 100644
index 00000000..fbecad96
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta
new file mode 100644
index 00000000..06639848
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs
new file mode 100644
index 00000000..be5283ec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstStretchShearConstraints : BurstConstraintsImpl<BurstStretchShearConstraintsBatch>
+    {
+        public BurstStretchShearConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.StretchShear)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstStretchShearConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstStretchShearConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta
new file mode 100644
index 00000000..8e0f8f77
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a79c4e863802e4ca19939ab6766329e8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
new file mode 100644
index 00000000..006153e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
@@ -0,0 +1,206 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstStretchShearConstraintsBatch : BurstConstraintsBatchImpl, IStretchShearConstraintsBatchImpl
+    {
+        private NativeArray<int> orientationIndices;
+        private NativeArray<float> restLengths;
+        private NativeArray<quaternion> restOrientations;
+        private NativeArray<float3> stiffnesses;
+
+        public BurstStretchShearConstraintsBatch(BurstStretchShearConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.StretchShear;
+        }
+
+        public void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.orientationIndices = orientationIndices.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float>();
+            this.restOrientations = restOrientations.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float3>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new StretchShearConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                orientationIndices = orientationIndices,
+                restLengths = restLengths,
+                restOrientations = restOrientations,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas.Reinterpret<float, float3>(),
+
+                positions = solverImplementation.positions,
+                orientations = solverImplementation.orientations,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                deltas = solverImplementation.positionDeltas,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyStretchShearConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                orientationIndices = orientationIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct StretchShearConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public NativeArray<float> restLengths;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float3> stiffnesses;
+            public NativeArray<float3> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+                int q = orientationIndices[i];
+
+                float w1 = invMasses[p1];
+                float w2 = invMasses[p2];
+
+                // calculate time adjusted compliance
+                float3 compliances = stiffnesses[i] / deltaTimeSqr;
+
+                float3 e = math.rotate(restOrientations[i],new float3(0, 0, 1));
+                quaternion basis = math.mul(orientations[q],restOrientations[i]);
+
+                // calculate rod vector in local element space:
+                float3 gamma = math.rotate(math.conjugate(basis), (positions[p2] - positions[p1]).xyz) / (restLengths[i] + BurstMath.epsilon);
+
+                // subtract third director vector (0,0,1):
+                gamma[2] -= 1;
+
+                float3 W = new float3((w1 + w2) / (restLengths[i] + BurstMath.epsilon) + invRotationalMasses[q] * 4.0f * restLengths[i]);
+                float3 dlambda = (gamma - compliances * lambdas[i]) / (W + compliances + BurstMath.epsilon);
+                lambdas[i] += dlambda;
+
+                // convert lambda delta lambda back to world space:
+                dlambda = math.mul(basis, dlambda);
+
+                deltas[p1] += new float4(dlambda, 0) * w1;
+                deltas[p2] -= new float4(dlambda, 0) * w2;
+
+                quaternion e_3 = new quaternion(e.x,e.y,e.z,0);
+                quaternion q_e_3_bar = math.mul(orientations[q],math.conjugate(e_3));
+
+                // calculate rotation delta:
+                quaternion rotDelta = math.mul(new quaternion(dlambda[0], dlambda[1], dlambda[2], 0.0f),q_e_3_bar);
+                rotDelta.value *= 2.0f * invRotationalMasses[q] * restLengths[i];
+
+                quaternion orDelta = orientationDeltas[q];
+                orDelta.value += rotDelta.value;
+                orientationDeltas[q] = orDelta;
+
+                counts[p1]++;
+                counts[p2]++;
+                orientationCounts[q]++;
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyStretchShearConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+                int q1 = orientationIndices[i];
+
+                if (counts[p1] > 0)
+                {
+                    positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                    deltas[p1] = float4.zero;
+                    counts[p1] = 0;
+                }
+
+                if (counts[p2] > 0)
+                {
+                    positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                    deltas[p2] = float4.zero;
+                    counts[p2] = 0;
+                }
+
+                if (orientationCounts[q1] > 0)
+                {
+                    quaternion q = orientations[q1];
+                    q.value += orientationDeltas[q1].value * sorFactor / orientationCounts[q1];
+                    orientations[q1] = math.normalize(q);
+
+                    orientationDeltas[q1] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[q1] = 0;
+                }
+
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta
new file mode 100644
index 00000000..fd4594af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0f505342239d5443fbd06fb4e610b240
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta
new file mode 100644
index 00000000..edc51075
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: c77d80d2f6a7b4136bfdc684b23b91f3
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs
new file mode 100644
index 00000000..ad12a2d4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstTetherConstraints : BurstConstraintsImpl<BurstTetherConstraintsBatch>
+    {
+        public BurstTetherConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstTetherConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstTetherConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta
new file mode 100644
index 00000000..0a7fa83a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c12658b3bc614f3c921a54dc2489881
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
new file mode 100644
index 00000000..eb1a4ee2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
@@ -0,0 +1,141 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstTetherConstraintsBatch : BurstConstraintsBatchImpl, ITetherConstraintsBatchImpl
+    {
+        private NativeArray<float2> maxLengthScale;
+        private NativeArray<float> stiffnesses;
+
+        public BurstTetherConstraintsBatch(BurstTetherConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Tether;
+        }
+
+        public void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.maxLengthScale = maxLengthScale.AsNativeArray<float2>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new TetherConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                maxLengthScale = maxLengthScale,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyTetherConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct TetherConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float2> maxLengthScale;
+            [ReadOnly] public NativeArray<float> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+
+                float w1 = invMasses[p1];
+                float w2 = invMasses[p2];
+
+                // calculate time adjusted compliance
+                float compliance = stiffnesses[i] / deltaTimeSqr;
+
+                // calculate position and lambda deltas:
+                float4 distance = positions[p1] - positions[p2];
+                float d = math.length(distance);
+
+                // calculate constraint value (distance - rest length)
+                float constraint = d - (maxLengthScale[i].x * maxLengthScale[i].y);
+
+                if (constraint > 0)
+                {
+                    // calculate lambda and position deltas:
+                    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
+                    float4 delta = dlambda * distance / (d + BurstMath.epsilon);
+                    lambdas[i] += dlambda;
+                    deltas[p1] += delta * w1;
+                    counts[p1]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyTetherConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeSlice<int> particleIndices;
+
+            // linear/position properties:
+            [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float sorFactor;
+
+            public void Execute(int index)
+            {
+                // only the first particle out of each pair is affected:
+                int i = particleIndices[index * 2];
+
+                if (counts[i] > 0)
+                {
+                    positions[i] += deltas[i] * sorFactor / counts[i];
+                    deltas[i] = float4.zero;
+                    counts[i] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta
new file mode 100644
index 00000000..ef9db3d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta
new file mode 100644
index 00000000..40b34b22
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0b17a4f4853654722be7ce3458a4ce7a
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs
new file mode 100644
index 00000000..aae0fa86
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstVolumeConstraints : BurstConstraintsImpl<BurstVolumeConstraintsBatch>
+    {
+        public BurstVolumeConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Volume)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstVolumeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstVolumeConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta
new file mode 100644
index 00000000..9aceba9b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
new file mode 100644
index 00000000..f813744d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
@@ -0,0 +1,232 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstVolumeConstraintsBatch : BurstConstraintsBatchImpl, IVolumeConstraintsBatchImpl
+    {
+        private NativeArray<int> firstTriangle;
+        private NativeArray<int> numTriangles;
+        private NativeArray<float> restVolumes;
+        private NativeArray<float2> pressureStiffness;
+
+        public BurstVolumeConstraintsBatch(BurstVolumeConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Volume;
+        }
+
+        public void SetVolumeConstraints(ObiNativeIntList triangles,
+                                         ObiNativeIntList firstTriangle,
+                                         ObiNativeIntList numTriangles,
+                                         ObiNativeFloatList restVolumes,
+                                         ObiNativeVector2List pressureStiffness,
+                                         ObiNativeFloatList lambdas,
+                                         int count)
+        {
+            this.particleIndices = triangles.AsNativeArray<int>();
+            this.firstTriangle = firstTriangle.AsNativeArray<int>();
+            this.numTriangles = numTriangles.AsNativeArray<int>();
+            this.restVolumes = restVolumes.AsNativeArray<float>();
+            this.pressureStiffness = pressureStiffness.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new VolumeConstraintsBatchJob()
+            {
+                triangles = particleIndices,
+                firstTriangle = firstTriangle,
+                numTriangles = numTriangles,
+                restVolumes = restVolumes,
+                pressureStiffness = pressureStiffness,
+                lambdas = lambdas,
+
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+
+                gradients = solverImplementation.fluidData, // reuse fluidData for temp gradients.
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyVolumeConstraintsBatchJob()
+            {
+                triangles = particleIndices,
+                firstTriangle = firstTriangle,
+                numTriangles = numTriangles,
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct VolumeConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> triangles;
+            [ReadOnly] public NativeArray<int> firstTriangle;
+            [ReadOnly] public NativeArray<int> numTriangles;
+            [ReadOnly] public NativeArray<float> restVolumes;
+            [ReadOnly] public NativeArray<float2> pressureStiffness;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> gradients;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                float compliance = pressureStiffness[i].y / deltaTimeSqr;
+
+                // calculate volume:
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    gradients[i1] = new float4(0, 0, 0, 1);
+                    gradients[i2] = new float4(0, 0, 0, 1);
+                    gradients[i3] = new float4(0, 0, 0, 1);
+                }
+
+                float volume = 0;
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    //accumulate gradient for each particle:
+                    gradients[i1] += new float4(math.cross(positions[i2].xyz, positions[i3].xyz), 0);
+                    gradients[i2] += new float4(math.cross(positions[i3].xyz, positions[i1].xyz), 0);
+                    gradients[i3] += new float4(math.cross(positions[i1].xyz, positions[i2].xyz), 0);
+
+                    //calculate this triangle's volume contribution:
+                    volume += math.dot(math.cross(positions[i1].xyz, positions[i2].xyz), positions[i3].xyz) / 6.0f;
+                }
+
+                // calculate constraint denominator (G(Cj)*inv(M)):
+                float denominator = 0;
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    denominator += invMasses[i1] * math.lengthsq(gradients[i1].xyz) * gradients[i1].w;
+                    gradients[i1] = new float4(gradients[i1].xyz,0);
+
+                    denominator += invMasses[i2] * math.lengthsq(gradients[i2].xyz) * gradients[i2].w;
+                    gradients[i2] = new float4(gradients[i2].xyz, 0);
+
+                    denominator += invMasses[i3] * math.lengthsq(gradients[i3].xyz) * gradients[i3].w;
+                    gradients[i3] = new float4(gradients[i3].xyz, 0);
+                }
+
+                // equality constraint: volume - pressure * rest volume = 0
+                float constraint = volume - pressureStiffness[i].x * restVolumes[i];
+
+                // calculate lagrange multiplier delta:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (denominator + compliance + BurstMath.epsilon);
+                lambdas[i] += dlambda;
+
+                // calculate position deltas:
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    deltas[i1] += dlambda * invMasses[i1] * gradients[i1];
+                    counts[i1]++;
+
+                    deltas[i2] += dlambda * invMasses[i2] * gradients[i2];
+                    counts[i2]++;
+
+                    deltas[i3] += dlambda * invMasses[i3] * gradients[i3];
+                    counts[i3]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyVolumeConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> triangles;
+            [ReadOnly] public NativeArray<int> firstTriangle;
+            [ReadOnly] public NativeArray<int> numTriangles;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int p1 = triangles[v];
+                    int p2 = triangles[v + 1];
+                    int p3 = triangles[v + 2];
+
+                    if (counts[p1] > 0)
+                    {
+                        positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                        deltas[p1] = float4.zero;
+                        counts[p1] = 0;
+                    }
+
+                    if (counts[p2] > 0)
+                    {
+                        positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                        deltas[p2] = float4.zero;
+                        counts[p2] = 0;
+                    }
+
+                    if (counts[p3] > 0)
+                    {
+                        positions[p3] += deltas[p3] * sorFactor / counts[p3];
+                        deltas[p3] = float4.zero;
+                        counts[p3] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta
new file mode 100644
index 00000000..cff4f91b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 7074d2203034e432a8b88a3b3018283a
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta
new file mode 100644
index 00000000..0c37e043
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta
@@ -0,0 +1,8 @@
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+guid: 7d7a8ea58f9a3403e9147d6d8874db86
+folderAsset: yes
+DefaultImporter:
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
new file mode 100644
index 00000000..5fea22d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
@@ -0,0 +1,156 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstAabb
+    {
+        public float4 min;
+        public float4 max;
+
+        public float4 size
+        {
+            get { return max - min; }
+        }
+
+        public float4 center
+        {
+            get { return min + (max - min) * 0.5f; }
+        }
+
+        public BurstAabb(float4 min, float4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public BurstAabb(float4 v1, float4 v2, float4 v3, float4 margin)
+        {
+            min = math.min(math.min(v1, v2), v3) - margin;
+            max = math.max(math.max(v1, v2), v3) + margin;
+        }
+
+        public BurstAabb(float4 v1, float4 v2, float4 margin)
+        {
+            min = math.min(v1, v2) - margin;
+            max = math.max(v1, v2) + margin;
+        }
+
+        public BurstAabb(float4 previousPosition, float4 position, float radius)
+        {
+            min = math.min(position - radius, previousPosition - radius);
+            max = math.max(position + radius, previousPosition + radius);
+        }
+
+        public float AverageAxisLength()
+        {
+            float4 d = max - min;
+            return (d.x + d.y + d.z) * 0.33f;
+        }
+
+        public float MaxAxisLength()
+        {
+            return math.cmax((max - min).xyz);
+        }
+
+        public void EncapsulateParticle(float4 position, float radius)
+        {
+            min = math.min(min, position - radius);
+            max = math.max(max, position + radius);
+        }
+
+        public void EncapsulateParticle(float4 previousPosition, float4 position, float radius)
+        {
+            min = math.min(math.min(min, position - radius), previousPosition - radius);
+            max = math.max(math.max(max, position + radius), previousPosition + radius);
+        }
+
+        public void EncapsulateBounds(in BurstAabb bounds)
+        {
+            min = math.min(min,bounds.min);
+            max = math.max(max,bounds.max);
+        }
+
+        public void Expand(float4 amount)
+        {
+            min -= amount;
+            max += amount;
+        }
+
+        public void Sweep(float4 velocity)
+        {
+            min = math.min(min, min + velocity);
+            max = math.max(max, max + velocity);
+        }
+
+        public void Transform(in BurstAffineTransform transform)
+        {
+            Transform(float4x4.TRS(transform.translation.xyz, transform.rotation, transform.scale.xyz));
+        }
+
+        public void Transform(in float4x4 transform)
+        {
+            float3 xa = transform.c0.xyz * min.x;
+            float3 xb = transform.c0.xyz * max.x;
+
+            float3 ya = transform.c1.xyz * min.y;
+            float3 yb = transform.c1.xyz * max.y;
+
+            float3 za = transform.c2.xyz * min.z;
+            float3 zb = transform.c2.xyz * max.z;
+
+            min = new float4(math.min(xa, xb) + math.min(ya, yb) + math.min(za, zb) + transform.c3.xyz, 0);
+            max = new float4(math.max(xa, xb) + math.max(ya, yb) + math.max(za, zb) + transform.c3.xyz, 0);
+        }
+
+        public BurstAabb Transformed(in BurstAffineTransform transform)
+        {
+            var cpy = this;
+            cpy.Transform(transform);
+            return cpy;
+        }
+
+        public BurstAabb Transformed(in float4x4 transform)
+        {
+            var cpy = this;
+            cpy.Transform(transform);
+            return cpy;
+        }
+
+        public bool IntersectsAabb(in BurstAabb bounds, bool in2D = false)
+        {
+            if (in2D)
+            return (min[0] <= bounds.max[0] && max[0] >= bounds.min[0]) &&
+                   (min[1] <= bounds.max[1] && max[1] >= bounds.min[1]);
+
+            return (min[0] <= bounds.max[0] && max[0] >= bounds.min[0]) &&
+                   (min[1] <= bounds.max[1] && max[1] >= bounds.min[1]) &&
+                   (min[2] <= bounds.max[2] && max[2] >= bounds.min[2]);
+        }
+
+        public bool IntersectsRay(float4 origin, float4 inv_dir, bool in2D = false) 
+        {
+            float4 t1 = (min - origin) * inv_dir;
+            float4 t2 = (max - origin) * inv_dir;
+
+            float4 tmin1 = math.min(t1,t2);
+            float4 tmax1 = math.max(t1,t2);
+
+            float tmin, tmax;
+        
+            if (in2D) 
+            {
+                tmin = math.cmax(tmin1.xy);
+                tmax = math.cmin(tmax1.xy);
+            }
+            else
+            {
+                tmin = math.cmax(tmin1.xyz);
+                tmax = math.cmin(tmax1.xyz);
+            }
+        
+            return tmax >= math.max(0, tmin) && tmin <= 1;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta
new file mode 100644
index 00000000..e9a0ee4e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2766a51cbde7a4fe490989456f737d23
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
new file mode 100644
index 00000000..f601191d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
@@ -0,0 +1,95 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public struct BurstAffineTransform
+    {
+        public float4 translation;
+        public float4 scale;
+        public quaternion rotation;
+
+        public BurstAffineTransform(float4 translation, quaternion rotation, float4 scale)
+        {
+            // make sure there are good values in the 4th component:
+            translation[3] = 0;
+            scale[3] = 1;
+
+            this.translation = translation;
+            this.rotation = rotation;
+            this.scale = scale;
+        }
+
+        public static BurstAffineTransform operator *(BurstAffineTransform a, BurstAffineTransform b)
+        {
+            return new BurstAffineTransform(a.TransformPoint(b.translation),
+                                            math.mul(a.rotation,b.rotation),
+                                            a.scale * b.scale);
+        }
+
+        public BurstAffineTransform Inverse()
+        {
+            return new BurstAffineTransform(new float4(math.rotate(math.conjugate(rotation),(translation / -scale).xyz),0),
+                                            math.conjugate(rotation),
+                                            1 / scale);
+        }
+
+        public BurstAffineTransform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
+        {
+            return new BurstAffineTransform(BurstIntegration.IntegrateLinear(translation, linearVelocity, dt),
+                                            BurstIntegration.IntegrateAngular(rotation, angularVelocity, dt),
+                                            scale);
+        }
+
+        public BurstAffineTransform Interpolate(BurstAffineTransform other, float translationalMu, float rotationalMu, float scaleMu)
+        {
+            return new BurstAffineTransform(math.lerp(translation, other.translation, translationalMu),
+                                            math.slerp(rotation, other.rotation, rotationalMu),
+                                            math.lerp(scale, other.scale, scaleMu));
+        }
+
+        public float4 TransformPoint(float4 point)
+        {
+            return new float4(translation.xyz + math.rotate(rotation, (point * scale).xyz),0);
+        }
+
+        public float4 InverseTransformPoint(float4 point)
+        {
+            return new float4(math.rotate(math.conjugate(rotation),(point - translation).xyz) / scale.xyz , 0);
+        }
+
+        public float4 TransformPointUnscaled(float4 point)
+        {
+            return new float4(translation.xyz + math.rotate(rotation,point.xyz), 0);
+        }
+
+        public float4 InverseTransformPointUnscaled(float4 point)
+        {
+            return new float4(math.rotate(math.conjugate(rotation), (point - translation).xyz), 0);
+        }
+
+
+        public float4 TransformDirection(float4 direction)
+        {
+            return new float4(math.rotate(rotation, direction.xyz), 0);
+        }
+
+        public float4 InverseTransformDirection(float4 direction)
+        {
+            return new float4(math.rotate(math.conjugate(rotation), direction.xyz), 0);
+        }
+
+        public float4 TransformVector(float4 vector)
+        {
+            return new float4(math.rotate(rotation, (vector * scale).xyz), 0);
+        }
+
+        public float4 InverseTransformVector(float4 vector)
+        {
+            return new float4(math.rotate(math.conjugate(rotation),vector.xyz) / scale.xyz, 0);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta
new file mode 100644
index 00000000..f5c311f1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 42d935e53ff25405bb572c630431a08e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs
new file mode 100644
index 00000000..beadf100
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs
@@ -0,0 +1,60 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public struct BurstCellSpan : IEquatable<BurstCellSpan>
+    {
+        public int4 min;
+        public int4 max;
+
+
+        public BurstCellSpan(CellSpan span)
+        {
+            this.min = new int4(span.min.x, span.min.y, span.min.z, span.min.w);
+            this.max = new int4(span.max.x, span.max.y, span.max.z, span.max.w);
+        }
+
+        public BurstCellSpan(int4 min, int4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public int level
+        {
+            get{return min.w;}
+        }
+
+        public bool Equals(BurstCellSpan other)
+        {
+            return min.Equals(other.min) && max.Equals(other.max);
+        }
+
+        public override bool Equals(object obj)
+        {
+            return this.Equals((BurstCellSpan)obj);
+        }
+
+        public override int GetHashCode()
+        {
+            return 0; // we don't have any non-mutable fields, so just return 0.
+        }
+
+        public static bool operator ==(BurstCellSpan a, BurstCellSpan b)
+        {
+            return a.Equals(b);
+        }
+
+        public static bool operator !=(BurstCellSpan a, BurstCellSpan b)
+        {
+            return !a.Equals(b);
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta
new file mode 100644
index 00000000..a574d71c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9612a967e340a428ba9353b922a881be
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
new file mode 100644
index 00000000..a9336813
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
@@ -0,0 +1,78 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public struct BurstCollisionMaterial // TODO: use CollisionMaterial directly.
+    {
+        public float dynamicFriction;
+        public float staticFriction;
+        public float rollingFriction;
+        public float stickiness;
+        public float stickDistance;
+        public Oni.MaterialCombineMode frictionCombine;
+        public Oni.MaterialCombineMode stickinessCombine;
+        public int rollingContacts;
+
+        public static BurstCollisionMaterial CombineWith(BurstCollisionMaterial a, BurstCollisionMaterial b)
+        {
+            BurstCollisionMaterial result = new BurstCollisionMaterial();
+            var frictionCombineMode = (Oni.MaterialCombineMode)math.max((int)a.frictionCombine, (int)b.frictionCombine);
+            var stickCombineMode = (Oni.MaterialCombineMode)math.max((int)a.stickinessCombine, (int)b.stickinessCombine);
+
+            switch (frictionCombineMode)
+            {
+                default: // average
+                    result.dynamicFriction = (a.dynamicFriction + b.dynamicFriction) * 0.5f;
+                    result.staticFriction = (a.staticFriction + b.staticFriction) * 0.5f;
+                    result.rollingFriction = (a.rollingFriction + b.rollingFriction) * 0.5f;
+                    break;
+
+                case Oni.MaterialCombineMode.Minimum:
+                    result.dynamicFriction = math.min(a.dynamicFriction, b.dynamicFriction);
+                    result.staticFriction = math.min(a.staticFriction, b.staticFriction);
+                    result.rollingFriction = math.min(a.rollingFriction, b.rollingFriction);
+                    break;
+
+                case Oni.MaterialCombineMode.Multiply:
+                    result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
+                    result.staticFriction = a.staticFriction * b.staticFriction;
+                    result.rollingFriction = a.rollingFriction * b.rollingFriction;
+                    break;
+
+                case Oni.MaterialCombineMode.Maximum:
+                    result.dynamicFriction = math.max(a.dynamicFriction, b.dynamicFriction);
+                    result.staticFriction = math.max(a.staticFriction, b.staticFriction);
+                    result.rollingFriction = math.max(a.rollingFriction, b.rollingFriction);
+                    break;
+            }
+
+            switch (stickCombineMode)
+            {
+                default: // average
+                    result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
+                    break;
+
+                case Oni.MaterialCombineMode.Minimum:
+                    result.stickiness = math.min(a.stickiness, b.stickiness);
+                    break;
+
+                case Oni.MaterialCombineMode.Multiply:
+                    result.stickiness = a.stickiness * b.stickiness;
+                    break;
+
+                case Oni.MaterialCombineMode.Maximum:
+                    result.stickiness = math.max(a.stickiness, b.stickiness);
+                    break;
+            }
+
+            result.stickDistance = math.max(a.stickDistance, b.stickDistance);
+            result.rollingContacts = a.rollingContacts | b.rollingContacts;
+            return result;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta
new file mode 100644
index 00000000..0adfc955
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de388c94a975a489a8093d110d42af2a
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
new file mode 100644
index 00000000..a49d7d56
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
@@ -0,0 +1,60 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public struct BurstInertialFrame
+    {
+        public BurstAffineTransform frame;
+        public BurstAffineTransform prevFrame;
+
+        public float4 velocity;
+        public float4 angularVelocity;
+
+        public float4 acceleration;
+        public float4 angularAcceleration;
+
+        public BurstInertialFrame(float4 position, float4 scale, quaternion rotation)
+        {
+            this.frame = new BurstAffineTransform(position, rotation, scale);
+            this.prevFrame = frame;
+
+            velocity = float4.zero;
+            angularVelocity = float4.zero;
+            acceleration = float4.zero;
+            angularAcceleration = float4.zero;
+        }
+
+        public BurstInertialFrame(BurstAffineTransform frame)
+        {
+            this.frame = frame;
+            this.prevFrame = frame;
+
+            velocity = float4.zero;
+            angularVelocity = float4.zero;
+            acceleration = float4.zero;
+            angularAcceleration = float4.zero;
+        }
+
+        public void Update(float4 position, float4 scale, quaternion rotation, float dt)
+        {
+            prevFrame = frame;
+            float4 prevVelocity = velocity;
+            float4 prevAngularVelocity = angularVelocity;
+
+            frame.translation = position;
+            frame.rotation = rotation;
+            frame.scale = scale;
+
+            velocity = BurstIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
+            angularVelocity = BurstIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
+
+            acceleration = BurstIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
+            angularAcceleration = BurstIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
+        }
+       
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta
new file mode 100644
index 00000000..f48cd9ee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs
new file mode 100644
index 00000000..c214ce9e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs
@@ -0,0 +1,128 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System.Collections.Generic;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstPrefixSum
+    {
+        private int inputSize;
+        private const int numBlocks = 8;
+
+        private NativeArray<int> blockSums;
+
+        public BurstPrefixSum(int inputSize)
+        {
+            this.inputSize = inputSize;
+            blockSums = new NativeArray<int>(numBlocks, Allocator.Persistent);
+        }
+
+        public void Dispose()
+        {
+            if (blockSums.IsCreated)
+                blockSums.Dispose();
+        }
+
+        public unsafe JobHandle Sum(NativeArray<int> input, NativeArray<int> result, int* count, JobHandle inputDeps)
+        {
+
+            // calculate partial prefix sums, one per block:
+            var job = new BlockSumJob
+            {
+                input = input,
+                output = result,
+                blocks = blockSums,
+                count = count
+            };
+            inputDeps = job.Schedule(numBlocks, 1, inputDeps);
+
+            var job3 = new BlockSum
+            {
+                blocks = blockSums
+            };
+            inputDeps = job3.Schedule(inputDeps);
+
+            // add the scanned partial block sums to the result:
+            var job2 = new PrefixSumJob
+            {
+                prefixBlocks = blockSums,
+                output = result,
+                count = count
+            };
+            return job2.Schedule(numBlocks, 1, inputDeps);
+        }
+
+        [BurstCompile]
+        unsafe struct BlockSumJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> input;
+            [NativeDisableParallelForRestriction] public NativeArray<int> output;
+            public NativeArray<int> blocks;
+
+            [ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
+
+            public void Execute(int block)
+            {
+                int length = *count + 1; // add 1 to get total sum in last element+1
+                int blockSize = (int)math.ceil(length / (float)numBlocks);
+
+                int start = block * blockSize;
+                int end = math.min(start + blockSize, length);
+
+                output[start] = 0;
+
+                if (blockSize == 0) { blocks[block] = 0; return; }
+
+                for (int i = start + 1; i < end; ++i)
+                    output[i] = output[i - 1] + input[i - 1];
+
+                blocks[block] = output[end - 1] + input[end - 1];
+            }
+        }
+
+        [BurstCompile]
+        struct BlockSum : IJob
+        {
+            public NativeArray<int> blocks;
+
+            public void Execute()
+            {
+                int aux = blocks[0];
+                blocks[0] = 0;
+
+                for (int i = 1; i < blocks.Length; ++i)
+                {
+                    int a = blocks[i];
+                    blocks[i] = blocks[i - 1] + aux;
+                    aux = a;
+                }
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct PrefixSumJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> prefixBlocks;
+            [NativeDisableParallelForRestriction] public NativeArray<int> output;
+
+            [ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
+
+            public void Execute(int block)
+            {
+                int length = *count + 1; // add 1 to get total sum in last element+1
+                int blockSize = (int)math.ceil(length / (float)numBlocks);
+
+                int start = block * blockSize;
+                int end = math.min(start + blockSize, length);
+
+                for (int i = start; i < end; ++i)
+                    output[i] += prefixBlocks[block];
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta
new file mode 100644
index 00000000..3cd7558f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7fa11563c202445279d5e04b0eb1631b
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
new file mode 100644
index 00000000..b5688031
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
@@ -0,0 +1,16 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstQueryShape
+    {
+        public float4 center;
+        public float4 size;
+        public QueryShape.QueryType type;
+        public float contactOffset;
+        public float maxDistance;
+        public int filter;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta
new file mode 100644
index 00000000..538a4ca1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1407a04be79f44be6a770255e8e89195
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+  defaultReferences: []
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
new file mode 100644
index 00000000..7df6296a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
@@ -0,0 +1,23 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+
+    public struct BurstRigidbody
+    {
+        public float4x4 inverseInertiaTensor;
+        public float4 velocity;
+        public float4 angularVelocity;
+        public float4 com;
+        public float inverseMass;
+
+        public int constraintCount;
+        private int pad1;
+        private int pad2;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta
new file mode 100644
index 00000000..9487b186
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta
new file mode 100644
index 00000000..528067dd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs
new file mode 100644
index 00000000..509d7fe8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs
@@ -0,0 +1,49 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using UnityEngine;
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct BatchLUT : IDisposable
+    {
+        public readonly int numBatches;
+        public readonly NativeArray<ushort> batchIndex;
+
+        public BatchLUT(int numBatches)
+        {
+            this.numBatches = numBatches;
+
+            batchIndex = new NativeArray<ushort>(UInt16.MaxValue + 1, Allocator.Persistent, NativeArrayOptions.ClearMemory);
+            const ushort end = UInt16.MaxValue;
+            ushort numBits = (ushort)(numBatches - 1);
+
+            // For each entry in the table, compute the position of the first '0' bit in the index, starting from the less significant bit.
+            // This is the index of the first batch where we can add the constraint to.
+
+            for (ushort value = 0; value < end; value++)
+            {
+                ushort valueCopy = value;
+                for (ushort i = 0; i < numBits; i++)
+                {
+                    if ((valueCopy & 1) == 0)
+                    {
+                        batchIndex[value] = i;
+                        break;
+                    }
+                    valueCopy >>= 1;
+                }
+
+            }
+
+            batchIndex[end] = numBits;
+        }
+
+        public void Dispose()
+        {
+            batchIndex.Dispose();
+        }
+    }
+    
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta
new file mode 100644
index 00000000..60a9f235
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0ba613bda78be4a71be94b90f92fbde5
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
new file mode 100644
index 00000000..5f2c182b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
@@ -0,0 +1,216 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Jobs;
+
+namespace Obi
+{
+
+    public struct BatchData
+    {
+        public ushort batchID;             // Batch identifier. All bits will be '0', except for the one at the position of the batch.
+
+        public int startIndex;             // first constraint in the batch
+        public int constraintCount;        // amount of constraints in the batch.
+        public int activeConstraintCount;  // auxiliar counter used to sort the constraints in linear time.
+
+        public int workItemSize;           // size of each work item.
+        public int workItemCount;          // number of work items.
+        public bool isLast;
+
+        public BatchData(int index, int maxBatches)
+        {
+            batchID = (ushort)(1 << index);
+            isLast = index == (maxBatches - 1);
+            constraintCount = 0;
+            activeConstraintCount = 0;
+
+            startIndex = 0;
+            workItemSize = 0;
+            workItemCount = 0;
+        }
+
+        public void GetConstraintRange(int workItemIndex, out int start, out int end)
+        {
+            start = startIndex + workItemSize * workItemIndex;
+            end = startIndex + math.min(constraintCount, workItemSize * (workItemIndex + 1));
+        }
+
+    }
+
+    public unsafe struct WorkItem
+    {
+        public const int minWorkItemSize = 64;
+        public fixed int constraints[minWorkItemSize];
+        public int constraintCount;
+
+        public bool Add(int constraintIndex)
+        {
+            // add the constraint to this work item.
+            fixed (int* constraintIndices = constraints)
+            {
+                constraintIndices[constraintCount] = constraintIndex;
+            }
+
+            // if we've completed the work item, close it and reuse for the next one.
+            return (++constraintCount == minWorkItemSize);
+        }
+    }
+
+    public struct ConstraintBatcher<T> : IDisposable where T : struct, IConstraintProvider
+    {
+        public int maxBatches;
+        private BatchLUT batchLUT; // look up table for batch indices.
+
+        public ConstraintBatcher(int maxBatches)
+        {
+            this.maxBatches = math.min(17, maxBatches);
+            batchLUT = new BatchLUT(this.maxBatches);
+        }
+
+        public void Dispose()
+        {
+            batchLUT.Dispose();
+        }
+
+        /**
+         * Linear-time graph coloring using bitmasks and a look-up table. Used to organize contacts into batches for parallel processing.
+         * input: array of unsorted constraints.
+         * output:
+         * - sorted constraint indices array.
+         * - array of batchData, one per batch: startIndex, batchSize, workItemSize (at most == batchSize), numWorkItems
+         * - number of active batches.
+         */
+
+        public JobHandle BatchConstraints(ref T constraintDesc,
+                                             int particleCount,
+                                             ref NativeArray<BatchData> batchData,
+                                             ref NativeArray<int> activeBatchCount,
+                                             JobHandle inputDeps)
+        {
+            if (activeBatchCount.Length != 1)
+                return inputDeps;
+
+            var batchJob = new BatchContactsJob
+            {
+                batchMasks = new NativeArray<ushort>(particleCount, Allocator.TempJob, NativeArrayOptions.ClearMemory),
+                batchIndices = new NativeArray<int>(constraintDesc.GetConstraintCount(), Allocator.TempJob, NativeArrayOptions.ClearMemory),
+                lut = batchLUT,
+                constraintDesc = constraintDesc,
+                batchData = batchData,
+                activeBatchCount = activeBatchCount,
+                maxBatches = maxBatches
+            };
+
+            return batchJob.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        private struct BatchContactsJob : IJob
+        {
+            [DeallocateOnJobCompletion]
+            public NativeArray<ushort> batchMasks;
+
+            [DeallocateOnJobCompletion]
+            public NativeArray<int> batchIndices;
+
+            [ReadOnly] public BatchLUT lut;
+            public T constraintDesc;
+            public NativeArray<BatchData> batchData;
+            public NativeArray<int> activeBatchCount;
+
+            public int maxBatches;
+
+            public unsafe void Execute()
+            {
+                // Initialize batch data array
+                for (int i = 0; i < batchData.Length; ++i)
+                    batchData[i] = new BatchData(i, maxBatches);
+
+                // temporary array containing an open work item for each batch.
+                WorkItem* workItems = stackalloc WorkItem[maxBatches];
+                for (int i = 0; i < maxBatches; i++)
+                    workItems[i] = new WorkItem();
+
+                int constraintCount = constraintDesc.GetConstraintCount();
+
+                // find a batch for each constraint:
+                for (int i = 0; i < constraintCount; ++i)
+                {
+                    // OR together the batch masks of all entities involved in the constraint:
+                    int batchMask = 0;
+                    for (int k = 0; k < constraintDesc.GetParticleCount(i); ++k)
+                        batchMask |= batchMasks[constraintDesc.GetParticle(i, k)];
+
+                    // look up the first free batch index for this constraint:
+                    int batchIndex = batchIndices[i] = lut.batchIndex[batchMask];
+
+                    // update the amount of constraints in the batch:
+                    var batch = batchData[batchIndex];
+                    batch.constraintCount++;
+                    batchData[batchIndex] = batch;
+
+                    // add the constraint to the last work item of the batch:
+                    if (workItems[batchIndex].Add(i))
+                    {
+                        // if this work item does not belong to the last batch:
+                        if (batchIndex != maxBatches - 1)
+                        {
+                            // tag all entities in the work item with the batch mask to close it.
+                            // this way we know constraints referencing any of these entities can no longer be added to this batch.
+                            for (int j = 0; j < workItems[batchIndex].constraintCount; j++)
+                            {
+                                int constraint = workItems[batchIndex].constraints[j];
+
+                                for (int k = 0; k < constraintDesc.GetParticleCount(constraint); ++k)
+                                    batchMasks[constraintDesc.GetParticle(constraint, k)] |= batch.batchID;
+                            }
+                        }
+
+                        // reuse the work item.
+                        workItems[batchIndex].constraintCount = 0;
+                    }
+
+                }
+
+                // fill batch data:
+                activeBatchCount[0] = 0;
+                int numConstraints = 0;
+                for (int i = 0; i < batchData.Length; ++i)
+                {
+                    var batch = batchData[i];
+
+                    // bail out when we find the first empty batch:
+                    if (batch.constraintCount == 0)
+                        break;
+
+                    // calculate work item size, count, and index of the first constraint
+                    batch.workItemSize = math.min(WorkItem.minWorkItemSize, batch.constraintCount);
+                    batch.workItemCount = (batch.constraintCount + batch.workItemSize - 1) / batch.workItemSize;
+                    batch.startIndex = numConstraints;
+
+                    numConstraints += batch.constraintCount;
+                    activeBatchCount[0]++;
+
+                    batchData[i] = batch;
+                }
+
+                // write out sorted constraint indices:
+                for (int i = 0; i < constraintCount; ++i)
+                {
+                    var batch = batchData[batchIndices[i]];
+                    int sortedIndex = batch.startIndex + (batch.activeConstraintCount++);
+                    constraintDesc.WriteSortedConstraint(i, sortedIndex);
+                    batchData[batchIndices[i]] = batch;
+                }
+
+            }
+
+
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta
new file mode 100644
index 00000000..7b2143c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta
@@ -0,0 +1,11 @@
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+guid: 5f15c420c952f4f689684489a7de8920
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
new file mode 100644
index 00000000..3b3bf9ee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
@@ -0,0 +1,160 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class ConstraintSorter<T> where T : unmanaged, IConstraint 
+    {
+
+        public struct ConstraintComparer<K> : IComparer<K> where K : IConstraint
+        {
+            // Compares by Height, Length, and Width.
+            public int Compare(K x, K y)
+            {
+                return x.GetParticle(1).CompareTo(y.GetParticle(1));
+            }
+        }
+
+        /**
+         * Performs a single-threaded count sort on the constraints array using the first particle index,
+         * then multiple parallel sorts over slices of the original array sorting by the second particle index.
+         */
+        public JobHandle SortConstraints(int particleCount,
+                                         NativeArray<T> constraints,
+                                         ref NativeArray<T> sortedConstraints,
+                                         JobHandle handle) 
+        {
+            // Count the amount of digits in the largest particle index that can be referenced by a constraint:
+            NativeArray<int> totalCountUpToDigit = new NativeArray<int>(particleCount + 1, Allocator.TempJob);
+            int numDigits = 0;
+            int maxBodyIndex = particleCount - 1;
+            {
+                int val = maxBodyIndex;
+                while (val > 0)
+                {
+                    val >>= 1;
+                    numDigits++;
+                }
+            }
+
+            handle = new CountSortPerFirstParticleJob
+            {
+                input = constraints,
+                output = sortedConstraints,
+                maxDigits = numDigits,
+                maxIndex = maxBodyIndex,
+                digitCount = totalCountUpToDigit
+            }.Schedule(handle);
+
+            // Sort sub arrays with default sort.
+            int numPerBatch = math.max(1, maxBodyIndex / 32);
+
+            handle = new SortSubArraysJob
+            {
+                InOutArray = sortedConstraints,
+                NextElementIndex = totalCountUpToDigit,
+                comparer =  new ConstraintComparer<T>()
+            }.Schedule(totalCountUpToDigit.Length, numPerBatch, handle);
+
+            return handle;
+        }
+
+        [BurstCompile]
+        public struct CountSortPerFirstParticleJob : IJob 
+        {
+            [ReadOnly][NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
+            public NativeArray<T> output;
+
+            [NativeDisableContainerSafetyRestriction] public NativeArray<int> digitCount;
+
+            public int maxDigits;
+            public int maxIndex;
+
+            public void Execute()
+            {
+                // no real need for a mask, just in case bad particle indices were passed that have more digits than maxDigits.
+                int mask = (1 << maxDigits) - 1;
+
+                // Count digits
+                for (int i = 0; i < input.Length; i++)
+                {
+                    digitCount[input[i].GetParticle(0) & mask]++;
+                }
+
+                // Calculate start index for each digit
+                int prev = digitCount[0];
+                digitCount[0] = 0;
+                for (int i = 1; i <= maxIndex; i++)
+                {
+                    int current = digitCount[i];
+                    digitCount[i] = digitCount[i - 1] + prev;
+                    prev = current;
+                }
+
+                // Copy elements into buckets based on particle index
+                for (int i = 0; i < input.Length; i++)
+                {
+                    int index = digitCount[input[i].GetParticle(0) & mask]++;
+                    if (index == 1 && input.Length == 1)
+                    {
+                        output[0] = input[0];
+                    }
+                    output[index] = input[i];
+                }
+            }
+        }
+
+        // Sorts slices of an array in parallel
+        [BurstCompile]
+        public struct SortSubArraysJob : IJobParallelFor
+        {
+            [NativeDisableContainerSafetyRestriction] public NativeArray<T> InOutArray;
+
+            // Typically lastDigitIndex is resulting RadixSortPerBodyAJob.digitCount. nextElementIndex[i] = index of first element with bodyA index == i + 1
+            [NativeDisableContainerSafetyRestriction][DeallocateOnJobCompletion] public NativeArray<int> NextElementIndex;
+
+            [ReadOnly] public ConstraintComparer<T> comparer;
+
+            public void Execute(int workItemIndex)
+            {
+                int startIndex = 0;
+                if (workItemIndex > 0)
+                {
+                    startIndex = NextElementIndex[workItemIndex - 1];
+                }
+
+                if (startIndex < InOutArray.Length)
+                {
+                    int length = NextElementIndex[workItemIndex] - startIndex;
+                    DefaultSortOfSubArrays(InOutArray, startIndex, length, comparer);
+                }
+            }
+
+            public static void DefaultSortOfSubArrays(NativeArray<T> inOutArray, int startIndex, int length, ConstraintComparer<T> comparer)
+            {
+                if (length > 2)
+                {
+                    var slice = inOutArray.Slice(startIndex, length);
+                    slice.Sort(comparer);
+                }
+                else if (length == 2) // just swap:
+                {
+                    if (inOutArray[startIndex].GetParticle(1) > inOutArray[startIndex + 1].GetParticle(1))
+                    {
+                        var temp = inOutArray[startIndex + 1];
+                        inOutArray[startIndex + 1] = inOutArray[startIndex];
+                        inOutArray[startIndex] = temp;
+                    }
+                }
+            }
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta
new file mode 100644
index 00000000..f96538a0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs
new file mode 100644
index 00000000..011fecd0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs
@@ -0,0 +1,41 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct ContactProvider : IConstraintProvider
+    {
+        public NativeArray<BurstContact> contacts;
+        public NativeArray<BurstContact> sortedContacts;
+        public NativeArray<int> simplices;
+        public SimplexCounts simplexCounts;
+
+        public int GetConstraintCount()
+        {
+            return contacts.Length;
+        }
+
+        public int GetParticleCount(int constraintIndex)
+        {
+            simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyA, out int simplexSizeA);
+            simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyB, out int simplexSizeB);
+            return simplexSizeA + simplexSizeB;
+        }
+        public int GetParticle(int constraintIndex, int index)
+        {
+            int simplexStartA = simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyA, out int simplexSizeA);
+            int simplexStartB = simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyB, out int simplexSizeB);
+            if (index < simplexSizeA)
+                return simplices[simplexStartA + index];
+            else
+                return simplices[simplexStartB + index - simplexSizeA];
+        }
+
+        public void WriteSortedConstraint(int constraintIndex, int sortedIndex)
+        {
+            sortedContacts[sortedIndex] = contacts[constraintIndex];
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta
new file mode 100644
index 00000000..307657ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs
new file mode 100644
index 00000000..f6bf87f5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs
@@ -0,0 +1,32 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct FluidInteractionProvider : IConstraintProvider
+    {
+        public NativeArray<FluidInteraction> interactions;
+        public NativeArray<FluidInteraction> sortedInteractions;
+
+        public int GetConstraintCount()
+        {
+            return interactions.Length;
+        }
+
+        public int GetParticleCount(int constraintIndex)
+        {
+            return 2;
+        }
+        public int GetParticle(int constraintIndex, int index)
+        {
+            return interactions[constraintIndex].GetParticle(index);
+        }
+
+        public void WriteSortedConstraint(int constraintIndex, int sortedIndex)
+        {
+            sortedInteractions[sortedIndex] = interactions[constraintIndex];
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta
new file mode 100644
index 00000000..1567c744
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
new file mode 100644
index 00000000..2015869b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
@@ -0,0 +1,10 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+namespace Obi
+{
+    public interface IConstraint
+    {
+        int GetParticleCount();
+        int GetParticle(int index);
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs.meta
new file mode 100644
index 00000000..7c631bab
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs
new file mode 100644
index 00000000..44cf1860
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs
@@ -0,0 +1,12 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+namespace Obi
+{
+    public interface IConstraintProvider
+    {
+        int GetConstraintCount();
+        int GetParticleCount(int constraintIndex);
+        int GetParticle(int constraintIndex, int index);
+        void WriteSortedConstraint(int constraintIndex, int sortedIndex);
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta
new file mode 100644
index 00000000..26f47840
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs
new file mode 100644
index 00000000..f79ea05b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs
@@ -0,0 +1,19 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct FluidInteraction : IConstraint
+    {
+        public float4 gradient;
+        public float avgKernel;
+        public float avgGradient;
+        public int particleA;
+        public int particleB;
+
+        public int GetParticleCount() { return 2; }
+        public int GetParticle(int index) { return index == 0 ? particleA : particleB; }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta
new file mode 100644
index 00000000..12b84018
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
new file mode 100644
index 00000000..fe57581a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
@@ -0,0 +1,76 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct GridHash
+    {
+        public readonly static int3[] cellOffsets3D =
+        {
+            new int3(1,0,0),
+            new int3(0,1,0),
+            new int3(1,1,0),
+            new int3(0,0,1),
+            new int3(1,0,1),
+            new int3(0,1,1),
+            new int3(1,1,1),
+            new int3(-1,1,0),
+            new int3(-1,-1,1),
+            new int3(0,-1,1),
+            new int3(1,-1,1),
+            new int3(-1,0,1),
+            new int3(-1,1,1)
+        };
+
+        public readonly static int3[] cellOffsets =
+        {
+            new int3(0, 0, 0),
+            new int3(-1, 0, 0),
+            new int3(0, -1, 0),
+            new int3(0, 0, -1),
+            new int3(1, 0, 0),
+            new int3(0, 1, 0),
+            new int3(0, 0, 1)
+        };
+
+        public readonly static int2[] cell2DOffsets =
+        {
+            new int2(0, 0),
+            new int2(-1, 0),
+            new int2(0, -1),
+            new int2(1, 0),
+            new int2(0, 1),
+        };
+
+        public static int3 Quantize(float3 v, float cellSize)
+        {
+            return new int3(math.floor(v / cellSize));
+        }
+
+        public static int2 Quantize(float2 v, float cellSize)
+        {
+            return new int2(math.floor(v / cellSize));
+        }
+
+        public static int Hash(in int4 cellIndex, int maxCells)
+        {
+            const int p1 = 73856093;
+            const int p2 = 19349663;
+            const int p3 = 83492791;
+            const int p4 = 10380569;
+            return math.abs(p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z ^ p4 * cellIndex.w) % maxCells;
+        }
+
+        public static int Hash(in int3 cellIndex, int maxCells)
+        {
+            const int p1 = 73856093;
+            const int p2 = 19349663;
+            const int p3 = 83492791;
+            return ((p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z) & 0x7fffffff) % maxCells;
+
+            /*var index = cellIndex - new int3(-32, -32, -32);
+            return index.x + index.y * 64 + index.z * 64 * 64;*/
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta
new file mode 100644
index 00000000..8a077a2e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
new file mode 100644
index 00000000..aa210c06
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
@@ -0,0 +1,282 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+
+    /**
+     *  MultilevelGrid is the most used spatial partitioning structure in Obi. It is:
+     *
+     * - Unbounded: defines no limits on the size of location of space partitioned.
+     * - Sparse: only allocates memory where space has interesting features to track.
+     * - Multilevel: can store several levels of spatial subdivision, from very fine to very large.
+     * - Implicit: the hierarchical relationship between cells is not stored in memory,
+     *   but implicitly derived from the structure itself.
+     *
+     *  These characteristics make it extremely flexible, memory efficient, and fast. 
+     *  Its implementation is also fairly simple and concise. 
+     */
+    public unsafe struct NativeMultilevelGrid<T> : IDisposable where T : unmanaged, IEquatable<T>
+    {
+
+        public const float minSize = 0.01f; // minimum cell size is 1 centimeter, enough for very small particles.
+        public const int minLevel = -6;   // grid level for minSize.
+        public const int maxLevel = 17;
+
+        /**
+         * A cell in the multilevel grid. Coords are 4-dimensional, the 4th component is the grid level.
+         */
+        public struct Cell<K> where K : unmanaged, IEquatable<K>
+        {
+            int4 coords;
+            UnsafeList<K> contents;
+
+            public Cell(int4 coords)
+            {
+                this.coords = coords;
+                contents = new UnsafeList<K>(4,Allocator.Persistent);
+            }
+
+            public int4 Coords
+            {
+                get { return coords; }
+            }
+
+            public int Length
+            {
+                get { return contents.Length; }
+            }
+
+            public void* ContentsPointer
+            {
+                get { return contents.Ptr; }
+            }
+
+            public K this[int index]
+            {
+                get
+                {
+                    return contents.ElementAt(index);
+                }
+            }
+
+            public void Add(K entity)
+            {
+                contents.Add(entity);
+            }
+
+            public bool Remove(K entity)
+            {
+                int index = contents.IndexOf(entity);
+                if (index >= 0)
+                {
+                    contents.RemoveAtSwapBack(index);
+                    return true;
+                }
+                return false;
+            }
+
+            public void Dispose()
+            {
+                contents.Dispose();
+            }
+        }
+
+        public NativeParallelHashMap<int4, int> grid;
+        public NativeList<Cell<T>> usedCells;
+        public NativeParallelHashMap<int, int> populatedLevels;
+
+        public NativeMultilevelGrid(int capacity, Allocator label)
+        {
+            grid = new NativeParallelHashMap<int4, int>(capacity, label);
+            usedCells = new NativeList<Cell<T>>(label);
+            populatedLevels = new NativeParallelHashMap<int, int>(10, label);
+        }
+
+        public int CellCount
+        {
+            get { return usedCells.Length; }
+        }
+
+        public void Clear()
+        {
+            for (int i = 0; i < usedCells.Length; ++i)
+                usedCells[i].Dispose();
+
+            grid.Clear();
+            usedCells.Clear();
+            populatedLevels.Clear();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < usedCells.Length; ++i)
+                usedCells[i].Dispose();
+
+            grid.Dispose();
+            usedCells.Dispose();
+            populatedLevels.Dispose();
+        }
+
+        public int GetOrCreateCell(int4 cellCoords)
+        {
+            int cellIndex;
+            if (grid.TryGetValue(cellCoords, out cellIndex))
+            {
+                return cellIndex;
+            }
+            else
+            {
+                grid.TryAdd(cellCoords, usedCells.Length);
+                usedCells.Add(new Cell<T>(cellCoords));
+
+                IncreaseLevelPopulation(cellCoords.w);
+
+                return usedCells.Length - 1;
+            }
+        }
+
+        public bool TryGetCellIndex(int4 cellCoords, out int cellIndex)
+        {
+            return grid.TryGetValue(cellCoords, out cellIndex);
+        }
+
+        public void RemoveEmpty()
+        {
+            // remove empty cells from the used cells list and the grid:
+            for (int i = usedCells.Length - 1; i >= 0 ; --i)
+            {
+                if (usedCells[i].Length == 0)
+                {
+                    DecreaseLevelPopulation(usedCells[i].Coords.w);
+                    grid.Remove(usedCells[i].Coords);
+                    usedCells[i].Dispose();
+                    usedCells.RemoveAtSwapBack(i);
+                }
+            }
+
+            // update grid indices:
+            for (int i = 0; i < usedCells.Length; ++i)
+            {
+                grid.Remove(usedCells[i].Coords);
+                grid.TryAdd(usedCells[i].Coords, i);
+            }
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static int GridLevelForSize(float size)
+        {
+            // the magic number is 1/log(2), used because log_a(x) = log_b(x) / log_b(a)
+            // level is clamped between MIN_LEVEL and MAX_LEVEL, then remapped to (0, MAX_LEVEL - MIN_LEVEL)
+            // this allows us to avoid InterlockedMax issues on GPU, since it doesn't work on negative numbers on some APIs.
+            return math.clamp((int)math.ceil(math.log(size) * 1.44269504089f), minLevel, maxLevel) - minLevel;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float CellSizeOfLevel(int level)
+        {
+            return math.exp2(level + minLevel);
+        }
+
+        /**
+         * Given a cell coordinate, returns the coordinates of the cell containing it in a superior level.
+         */
+        public static int4 GetParentCellCoords(int4 cellCoords, int level)
+        {
+            float decimation = math.exp2(level - cellCoords[3]);
+            int4 cell = (int4)math.floor((float4)cellCoords / decimation);
+            cell[3] = level;
+            return cell;
+        }
+
+        public void RemoveFromCells(BurstCellSpan span, T content)
+        {
+            for (int x = span.min[0]; x <= span.max[0]; ++x)
+                for (int y = span.min[1]; y <= span.max[1]; ++y)
+                    for (int z = span.min[2]; z <= span.max[2]; ++z)
+                    {
+                        int cellIndex;
+                        if (TryGetCellIndex(new int4(x, y, z, span.level), out cellIndex))
+                        {
+                            var oldCell = usedCells[cellIndex];
+                            oldCell.Remove(content);
+                            usedCells[cellIndex] = oldCell;
+                        }
+                    }
+        }
+
+        public void AddToCells(BurstCellSpan span, T content)
+        {
+            for (int x = span.min[0]; x <= span.max[0]; ++x)
+                for (int y = span.min[1]; y <= span.max[1]; ++y)
+                    for (int z = span.min[2]; z <= span.max[2]; ++z)
+                    {
+                        int cellIndex = GetOrCreateCell(new int4(x, y, z, span.level));
+
+                        var newCell = usedCells[cellIndex];
+                        newCell.Add(content);
+                        usedCells[cellIndex] = newCell;
+                    }
+        }
+
+        public static void GetCellCoordsForBoundsAtLevel(NativeList<int4> coords, BurstAabb bounds, int level, int maxSize = 10)
+        {
+            coords.Clear();
+            float cellSize = CellSizeOfLevel(level);
+
+            int3 minCell = GridHash.Quantize(bounds.min.xyz, cellSize);
+            int3 maxCell = GridHash.Quantize(bounds.max.xyz, cellSize);
+            maxCell = minCell + math.min(maxCell - minCell, new int3(maxSize));
+
+            int3 size = maxCell - minCell + new int3(1);
+
+            coords.Capacity = size.x * size.y * size.z;
+
+            // TODO: return some sort of iterator trough the cells, not a native array.
+            for (int x = minCell[0]; x <= maxCell[0]; ++x)
+            {
+                for (int y = minCell[1]; y <= maxCell[1]; ++y)
+                {
+                    for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                    {
+                        coords.Add(new int4(x, y, z, level));
+                    }
+                }
+            }
+        }
+
+        private void IncreaseLevelPopulation(int level)
+        {
+
+            int population = 0;
+            if (populatedLevels.TryGetValue(level, out population))
+            {
+                populatedLevels.Remove(level);
+            }
+
+            populatedLevels.TryAdd(level, population + 1);
+        }
+
+        private void DecreaseLevelPopulation(int level)
+        {
+
+            int population = 0;
+            if (populatedLevels.TryGetValue(level, out population))
+            {
+                population--;
+                populatedLevels.Remove(level);
+
+                if (population > 0)
+                {
+                    populatedLevels.TryAdd(level, population);
+                }
+            }
+
+        }
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta
new file mode 100644
index 00000000..c1d78572
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2745cdd0ade4f4ac0a7ca952c1ad5dd8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
new file mode 100644
index 00000000..6e2d328d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
@@ -0,0 +1,448 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public struct MovingEntity
+    {
+        public int4 oldCellCoord;
+        public int4 newCellCoord;
+        public int entity;
+    }
+
+    public class ParticleGrid : IDisposable
+    {
+        public NativeMultilevelGrid<int> grid;
+        public NativeQueue<BurstContact> particleContactQueue;
+        public NativeQueue<FluidInteraction> fluidInteractionQueue;
+
+        [BurstCompile]
+        struct UpdateGrid : IJob
+        {
+            public NativeMultilevelGrid<int> grid;
+            [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+            public NativeArray<int4> cellCoords;
+
+            [ReadOnly] public Oni.SolverParameters parameters;
+            [ReadOnly] public int simplexCount;
+
+            public void Execute()
+            {
+                grid.Clear();
+
+                for (int i = 0; i < simplexCount; ++i)
+                {
+                    int level = NativeMultilevelGrid<int>.GridLevelForSize(simplexBounds[i].MaxAxisLength());
+                    float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
+
+                    // get new cell coordinate:
+                    int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
+
+                    // if the solver is 2D, project to the z = 0 cell.
+                    if (parameters.mode == Oni.SolverParameters.Mode.Mode2D) newCellCoord[2] = 0;
+
+                    cellCoords[i] = newCellCoord;
+
+                    // add to new cell:
+                    int cellIndex = grid.GetOrCreateCell(cellCoords[i]);
+                    var newCell = grid.usedCells[cellIndex];
+                    newCell.Add(i);
+                    grid.usedCells[cellIndex] = newCell;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct GenerateParticleParticleContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeMultilevelGrid<int> grid;
+
+            [DeallocateOnJobCompletion]
+            [ReadOnly] public NativeArray<int> gridLevels;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float4> restPositions;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float4> normals;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<int> phases;
+            [ReadOnly] public NativeArray<int> filters;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<FluidInteraction>.ParallelWriter fluidInteractionsQueue;
+
+            [ReadOnly] public float dt;
+            [ReadOnly] public float collisionMargin;
+            [ReadOnly] public int optimizationIterations;
+            [ReadOnly] public float optimizationTolerance;
+
+            public void Execute(int i)
+            {
+                BurstSimplex simplexShape = new BurstSimplex()
+                {
+                    positions = restPositions,
+                    radii = radii,
+                    simplices = simplices,
+                };
+
+                // Looks for close particles in the same cell:
+                IntraCellSearch(i, ref simplexShape);
+
+                // Looks for close particles in neighboring cells, in the same level or higher levels.
+                IntraLevelSearch(i, ref simplexShape);
+            }
+
+            private void IntraCellSearch(int cellIndex, ref BurstSimplex simplexShape)
+            {
+                int cellLength = grid.usedCells[cellIndex].Length;
+
+                for (int p = 0; p < cellLength; ++p)
+                {
+                    for (int n = p + 1; n < cellLength; ++n)
+                    {
+                        InteractionTest(grid.usedCells[cellIndex][p], grid.usedCells[cellIndex][n], ref simplexShape);
+                    }
+                }
+            }
+
+            private void InterCellSearch(int cellIndex, int neighborCellIndex, ref BurstSimplex simplexShape)
+            {
+                int cellLength = grid.usedCells[cellIndex].Length;
+                int neighborCellLength = grid.usedCells[neighborCellIndex].Length;
+
+                for (int p = 0; p < cellLength; ++p)
+                {
+                    for (int n = 0; n < neighborCellLength; ++n)
+                    {
+                        InteractionTest(grid.usedCells[cellIndex][p], grid.usedCells[neighborCellIndex][n], ref simplexShape);
+                    }
+                }
+            }
+
+            private void IntraLevelSearch(int cellIndex, ref BurstSimplex simplexShape)
+            {
+                int4 cellCoords = grid.usedCells[cellIndex].Coords;
+
+                // neighboring cells in the current level:
+                for (int i = 0; i < 13; ++i)
+                {
+                    int4 neighborCellCoords = new int4(cellCoords.xyz + GridHash.cellOffsets3D[i], cellCoords.w);
+
+                    int neighborCellIndex;
+                    if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
+                    {
+                        InterCellSearch(cellIndex, neighborCellIndex, ref simplexShape);
+                    }
+                }
+
+                // neighboring cells in levels above the current one:
+                int levelIndex = gridLevels.IndexOf<int, int>(cellCoords.w);
+                if (levelIndex >= 0)
+                {
+                    levelIndex++;
+                    for (; levelIndex < gridLevels.Length; ++levelIndex)
+                    {
+                        int level = gridLevels[levelIndex];
+
+                        // calculate index of parent cell in parent level:
+                        int4 parentCellCoords = NativeMultilevelGrid<int>.GetParentCellCoords(cellCoords, level);
+
+                        // search in all neighbouring cells:
+                        for (int x = -1; x <= 1; ++x)
+                            for (int y = -1; y <= 1; ++y)
+                                for (int z = -1; z <= 1; ++z)
+                                {
+                                    int4 neighborCellCoords = parentCellCoords + new int4(x, y, z, 0);
+
+                                    int neighborCellIndex;
+                                    if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
+                                    {
+                                        InterCellSearch(cellIndex, neighborCellIndex, ref simplexShape);
+                                    }
+                                }
+                    }
+                }
+            }
+
+            private int GetSimplexGroup(int simplexStart, int simplexSize, out ObiUtils.ParticleFlags flags, out int category, out int mask, ref bool restPositionsEnabled)
+            {
+                flags = 0;
+                int group = 0;
+                category = 0;
+                mask = 0;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    group = math.max(group, ObiUtils.GetGroupFromPhase(phases[particleIndex]));
+                    flags |= ObiUtils.GetFlagsFromPhase(phases[particleIndex]);
+                    category |= filters[particleIndex] & ObiUtils.FilterCategoryBitmask;
+                    mask |= (filters[particleIndex] & ObiUtils.FilterMaskBitmask) >> 16;
+                    restPositionsEnabled |= restPositions[particleIndex].w > 0.5f;
+                }
+
+                return group;
+            }
+
+            private void InteractionTest(int A, int B, ref BurstSimplex simplexShape)
+            {
+                // get the start index and size of each simplex:
+                int simplexStartA = simplexCounts.GetSimplexStartAndSize(A, out int simplexSizeA);
+                int simplexStartB = simplexCounts.GetSimplexStartAndSize(B, out int simplexSizeB);
+
+                // immediately reject simplex pairs that share particles:
+                for (int a = 0; a < simplexSizeA; ++a)
+                    for (int b = 0; b < simplexSizeB; ++b)
+                        if (simplices[simplexStartA + a] == simplices[simplexStartB + b])
+                            return;
+
+                // get group for each simplex:
+                bool restPositionsEnabled = false;
+                int groupA = GetSimplexGroup(simplexStartA, simplexSizeA, out ObiUtils.ParticleFlags flagsA, out int categoryA, out int maskA, ref restPositionsEnabled);
+                int groupB = GetSimplexGroup(simplexStartB, simplexSizeB, out ObiUtils.ParticleFlags flagsB, out int categoryB, out int maskB, ref restPositionsEnabled);
+
+                // if all particles are in the same group:
+                if (groupA == groupB)
+                {
+                    // if none are self-colliding, reject the pair.
+                    if ((flagsA & flagsB & ObiUtils.ParticleFlags.SelfCollide) == 0)
+                        return;
+                }
+                // category-based filtering:
+                else if ((maskA & categoryB) == 0 || (maskB & categoryA) == 0)
+                    return;
+
+                // if all simplices are fluid, check their smoothing radii:
+                if ((flagsA & ObiUtils.ParticleFlags.Fluid) != 0 && (flagsB & ObiUtils.ParticleFlags.Fluid) != 0)
+                {
+                    // for fluid we only consider the first particle in each simplex.
+                    int particleA = simplices[simplexStartA];
+                    int particleB = simplices[simplexStartB];
+
+                    // Calculate particle center distance:
+                    float d2 = math.lengthsq(positions[particleA].xyz - positions[particleB].xyz);
+
+                    float fluidDistance = math.max(fluidMaterials[particleA].x, fluidMaterials[particleB].x);
+                    if (d2 <= fluidDistance * fluidDistance)
+                    {
+                        fluidInteractionsQueue.Enqueue(new FluidInteraction { particleA = particleA, particleB = particleB });
+                    }
+                }
+                else // at least one solid particle is present:
+                {
+                    // swap simplices so that B is always the one-sided one.
+                    if ((flagsA & ObiUtils.ParticleFlags.OneSided) != 0 && categoryA < categoryB)
+                    {
+                        ObiUtils.Swap(ref A, ref B);
+                        ObiUtils.Swap(ref simplexStartA, ref simplexStartB);
+                        ObiUtils.Swap(ref simplexSizeA, ref simplexSizeB);
+                        ObiUtils.Swap(ref flagsA, ref flagsB);
+                        ObiUtils.Swap(ref groupA, ref groupB);
+                    }
+
+                    float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
+                    float4 simplexPoint;
+
+                    simplexShape.simplexStart = simplexStartB;
+                    simplexShape.simplexSize = simplexSizeB;
+                    simplexShape.positions = restPositions;
+                    simplexShape.CacheData();
+
+                    float simplexRadiusA = 0, simplexRadiusB = 0;
+
+                    // skip the contact if there's self-intersection at rest:
+                    if (groupA == groupB && restPositionsEnabled)
+                    {
+                        var restPoint = BurstLocalOptimization.Optimize<BurstSimplex>(ref simplexShape, restPositions, restOrientations, radii,
+                                                    simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, 4, 0);
+
+                        for (int j = 0; j < simplexSizeA; ++j)
+                            simplexRadiusA += radii[simplices[simplexStartA + j]].x * simplexBary[j];
+
+                        for (int j = 0; j < simplexSizeB; ++j)
+                            simplexRadiusB += radii[simplices[simplexStartB + j]].x * restPoint.bary[j];
+
+                        // compare distance along contact normal with radius.
+                        if (math.dot(simplexPoint - restPoint.point, restPoint.normal) < simplexRadiusA + simplexRadiusB)
+                            return;
+                    }
+
+                    simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
+                    simplexShape.positions = positions;
+                    simplexShape.CacheData();
+
+                    var surfacePoint = BurstLocalOptimization.Optimize<BurstSimplex>(ref simplexShape, positions, orientations, radii,
+                                        simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, optimizationIterations, optimizationTolerance);
+
+                    simplexRadiusA = 0; simplexRadiusB = 0;
+                    float4 velocityA = float4.zero, velocityB = float4.zero, normalB = float4.zero;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        simplexRadiusA += radii[particleIndex].x * simplexBary[j];
+                        velocityA += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        simplexRadiusB += radii[particleIndex].x * surfacePoint.bary[j];
+                        velocityB += velocities[particleIndex] * surfacePoint.bary[j];
+                        normalB += normals[particleIndex] * surfacePoint.bary[j];
+                    }
+
+                    float dAB = math.dot(simplexPoint - surfacePoint.point, surfacePoint.normal);
+                    float vel = math.dot(velocityA - velocityB, surfacePoint.normal);
+
+                    // check if the projected velocity along the contact normal will get us within collision distance.
+                    if (vel * dt + dAB <= simplexRadiusA + simplexRadiusB + collisionMargin)
+                    {
+                        // adapt collision normal for one-sided simplices:
+                        if ((flagsB & ObiUtils.ParticleFlags.OneSided) != 0 && categoryA < categoryB)
+                            BurstMath.OneSidedNormal(normalB, ref surfacePoint.normal);
+
+                        contactsQueue.Enqueue(new BurstContact()
+                        {
+                            bodyA = A,
+                            bodyB = B,
+                            pointA = simplexBary,
+                            pointB = surfacePoint.bary,
+                            normal = surfacePoint.normal
+                        });
+                    }
+                }
+            }
+        }
+
+        public ParticleGrid()
+        {
+            this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
+            this.particleContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
+            this.fluidInteractionQueue = new NativeQueue<FluidInteraction>(Allocator.Persistent);
+        }
+
+        public void Update(BurstSolverImpl solver, JobHandle inputDeps)
+        {
+            var updateGrid = new UpdateGrid
+            {
+                grid = grid,
+                simplexBounds = solver.simplexBounds,
+                simplexCount = solver.simplexCounts.simplexCount,
+                cellCoords = solver.cellCoords,
+                parameters = solver.abstraction.parameters
+            };
+            updateGrid.Schedule(inputDeps).Complete();
+        }
+
+        public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime)
+        {
+
+            var generateParticleContactsJob = new GenerateParticleParticleContactsJob
+            {
+                grid = grid,
+                gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                restPositions = solver.restPositions,
+                restOrientations = solver.restOrientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+                normals = solver.normals,
+                fluidMaterials = solver.fluidMaterials,
+                phases = solver.phases,
+                filters = solver.filters,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                particleMaterialIndices = solver.abstraction.collisionMaterials.AsNativeArray<int>(),
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                contactsQueue = particleContactQueue.AsParallelWriter(),
+                fluidInteractionsQueue = fluidInteractionQueue.AsParallelWriter(),
+                dt = deltaTime,
+                collisionMargin = solver.abstraction.parameters.collisionMargin,
+                optimizationIterations = solver.abstraction.parameters.surfaceCollisionIterations,
+                optimizationTolerance = solver.abstraction.parameters.surfaceCollisionTolerance,
+            };
+
+            return generateParticleContactsJob.Schedule(grid.CellCount, 1);
+        }
+
+        public JobHandle SpatialQuery(BurstSolverImpl solver,
+                                      NativeArray<BurstQueryShape> shapes,
+                                      NativeArray<BurstAffineTransform> transforms,
+                                      NativeQueue<BurstQueryResult> results)
+        {
+            var job = new SpatialQueryJob
+            {
+                grid = grid,
+
+                positions = solver.abstraction.prevPositions.AsNativeArray<float4>(),
+                orientations = solver.abstraction.prevOrientations.AsNativeArray<quaternion>(),
+                radii = solver.abstraction.principalRadii.AsNativeArray<float4>(),
+                filters = solver.abstraction.filters.AsNativeArray<int>(),
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                shapes = shapes,
+                transforms = transforms,
+
+                results = results.AsParallelWriter(),
+                worldToSolver = solver.worldToSolver,
+                parameters = solver.abstraction.parameters
+            };
+
+            return job.Schedule(shapes.Length, 4);
+        }
+
+        public void GetCells(ObiNativeAabbList cells)
+        {
+            if (cells.count == grid.usedCells.Length)
+            {
+                for (int i = 0; i < grid.usedCells.Length; ++i)
+                {
+                    var cell = grid.usedCells[i];
+                    float size = NativeMultilevelGrid<int>.CellSizeOfLevel(cell.Coords.w);
+
+                    float4 min = (float4)cell.Coords * size;
+                    min[3] = 0;
+
+                    cells[i] = new Aabb(min, min + new float4(size, size, size, 0));
+                }
+            }
+        }
+
+        public void Dispose()
+        {
+            grid.Dispose();
+            particleContactQueue.Dispose();
+            fluidInteractionQueue.Dispose();
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta
new file mode 100644
index 00000000..9b1ea310
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta
@@ -0,0 +1,11 @@
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+guid: 581337416adb545a388c356940ae38be
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta
new file mode 100644
index 00000000..e9f48027
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
new file mode 100644
index 00000000..48305307
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
@@ -0,0 +1,163 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstContact : IConstraint, System.IComparable<BurstContact>
+    {
+        public float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+        public float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+
+        public float4 normal; // contact normal on bodyB's surface.
+        public float4 tangent; // contact tangent on bodyB's surface.
+
+        public float distance;      // distance between bodyA's and bodyB's surface.
+
+        public float normalLambda;
+        public float tangentLambda;
+        public float bitangentLambda;
+        public float stickLambda;
+        public float rollingFrictionImpulse;
+
+        public int bodyA;
+        public int bodyB;
+
+        public int GetParticleCount() { return 2; }
+        public int GetParticle(int index) { return index == 0 ? bodyA : bodyB; }
+
+        public float4 bitangent => math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz), 0)); 
+        
+        public override string ToString()
+        {
+            return bodyA + "," + bodyB;
+        }
+
+        public int CompareTo(BurstContact other)
+        {
+            int first = bodyA.CompareTo(other.bodyA);
+            if (first == 0)
+                return bodyB.CompareTo(other.bodyB);
+            return first;
+        }
+
+        public void CalculateTangent(float4 relativeVelocity)
+        {
+            tangent = math.normalizesafe(relativeVelocity - math.dot(relativeVelocity, normal) * normal);
+        }
+
+        public float SolveAdhesion(float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
+        {
+
+            if (normalMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
+                return 0;
+
+            distance = math.dot(posA - posB, normal);
+
+            // calculate stickiness position correction:
+            float constraint = stickiness * (1 - math.max(distance / stickDistance, 0)) * dt;
+
+            // calculate lambda multiplier:
+            float dlambda = -constraint / normalMass;
+
+            // accumulate lambda:
+            float newStickinessLambda = math.min(stickLambda + dlambda, 0);
+
+            // calculate lambda change and update accumulated lambda:
+            float lambdaChange = newStickinessLambda - stickLambda;
+            stickLambda = newStickinessLambda;
+
+            return lambdaChange;
+        }
+
+        public float SolvePenetration(float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
+        {
+            if (normalMass <= 0)
+                return 0;
+
+            //project position delta to normal vector:
+            distance = math.dot(posA - posB, normal);
+
+            // calculate max projection distance based on depenetration velocity:
+            float maxProjection = math.max(-distance - maxDepenetrationDelta, 0);
+
+            // calculate lambda multiplier:
+            float dlambda = -(distance + maxProjection) / normalMass;
+
+            // accumulate lambda:
+            float newLambda = math.max(normalLambda + dlambda, 0);
+
+            // calculate lambda change and update accumulated lambda:
+            float lambdaChange = newLambda - normalLambda;
+            normalLambda = newLambda;
+
+            return lambdaChange;
+        }
+
+        public float2 SolveFriction(float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
+        {
+            float2 lambdaChange = float2.zero;
+
+            if (tangentMass <= 0 || bitangentMass <= 0 ||
+                (dynamicFriction <= 0 && staticFriction <= 0) || (normalLambda <= 0 && stickLambda <= 0))
+                return lambdaChange;
+
+            // calculate delta projection on both friction axis:
+            float tangentPosDelta = math.dot(relativeVelocity, tangent);
+            float bitangentPosDelta = math.dot(relativeVelocity, bitangent);
+
+            // calculate friction pyramid limit:
+            float dynamicFrictionCone = normalLambda / dt * dynamicFriction;
+            float staticFrictionCone  = normalLambda / dt * staticFriction;
+
+            // tangent impulse:
+            float tangentLambdaDelta = -tangentPosDelta / tangentMass; 
+            float newTangentLambda = tangentLambda + tangentLambdaDelta;
+
+            if (math.abs(newTangentLambda) > staticFrictionCone)
+                newTangentLambda = math.clamp(newTangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+            lambdaChange[0] = newTangentLambda - tangentLambda;
+            tangentLambda = newTangentLambda;
+
+            // bitangent impulse:
+            float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
+            float newBitangentLambda = bitangentLambda + bitangentLambdaDelta;
+
+            if (math.abs(newBitangentLambda) > staticFrictionCone)
+                newBitangentLambda = math.clamp(newBitangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+            lambdaChange[1] = newBitangentLambda - bitangentLambda;
+            bitangentLambda = newBitangentLambda;
+
+            return lambdaChange;
+        }
+
+
+        public float SolveRollingFriction(float4 angularVelocityA,
+                                          float4 angularVelocityB,
+                                          float rollingFriction,
+                                          float invMassA,
+                                          float invMassB,
+                                          ref float4 rolling_axis)
+        {
+            float totalInvMass = invMassA + invMassB;
+            if (totalInvMass <= 0)
+                return 0;
+        
+            rolling_axis = math.normalizesafe(angularVelocityA - angularVelocityB);
+
+            float vel1 = math.dot(angularVelocityA,rolling_axis);
+            float vel2 = math.dot(angularVelocityB,rolling_axis);
+
+            float relativeVelocity = vel1 - vel2;
+
+            float maxImpulse = normalLambda * rollingFriction;
+            float newRollingImpulse = math.clamp(rollingFrictionImpulse - relativeVelocity / totalInvMass, -maxImpulse, maxImpulse);
+            float rolling_impulse_change = newRollingImpulse - rollingFrictionImpulse;
+            rollingFrictionImpulse = newRollingImpulse;
+        
+            return rolling_impulse_change;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta
new file mode 100644
index 00000000..78667f13
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
new file mode 100644
index 00000000..5306e2cd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
@@ -0,0 +1,18 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct BurstQueryResult
+    {
+        public float4 simplexBary; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+        public float4 queryPoint; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+        public float4 normal;
+        public float distance;
+        public float distanceAlongRay; 
+        public int simplexIndex;
+        public int queryIndex;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs.meta
new file mode 100644
index 00000000..11928dd1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries.meta
new file mode 100644
index 00000000..ce25ade9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0a89041802caf45b3bb46e192cc3c220
+folderAsset: yes
+DefaultImporter:
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
new file mode 100644
index 00000000..b56f3e35
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
@@ -0,0 +1,98 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstBoxQuery : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            float4 size = shape.size * colliderToSolver.scale * 0.5f;
+
+            // clamp the point to the surface of the box:
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+           /*if (shape.is2D != 0)
+                point[2] = 0;*/
+
+            // get minimum distance for each axis:
+            float4 distances = size - math.abs(point);
+
+            if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+            {
+                // find minimum distance in all three axes and the axis index:
+                float min = float.MaxValue;
+                int axis = 0;
+
+                for (int i = 0; i < 3; ++i)
+                {
+                    if (distances[i] < min)
+                    {
+                        min = distances[i];
+                        axis = i;
+                    }
+                }
+
+                projectedPoint.normal = float4.zero;
+                projectedPoint.point = point;
+
+                projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
+                projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
+            }
+            else
+            {
+                projectedPoint.point = math.clamp(point, -size, size);
+                projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+            }
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
+
+            co.queryPoint = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
+
+            if (co.distance <= shape.maxDistance)
+                results.Enqueue(co);
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta
new file mode 100644
index 00000000..0e33279c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d6b3a07d6f9da432ea6e8e0dd3eea022
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
new file mode 100644
index 00000000..b89248af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
@@ -0,0 +1,92 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct BurstRay : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4x4 simplexToSolver = float4x4.TRS(point.xyz, orientation, radii.xyz);
+            float4x4 solverToSimplex = math.inverse(simplexToSolver);
+            float4x4 colliderToSimplex = math.mul(solverToSimplex, float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+
+            // express ray in simplex space (ellipsoid == scaled sphere)
+            float4 rayOrigin = math.mul(colliderToSimplex, new float4(shape.center.xyz,1));
+            float4 rayDirection = math.normalizesafe(math.mul(colliderToSimplex, new float4(shape.size.xyz,0)));
+
+            float rayDistance = ObiUtils.RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3.zero, 1);
+
+            if (rayDistance < 0)
+            {
+                point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+                float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, (shape.center + shape.size) * colliderToSolver.scale, point, out float mu);
+                float4 centerToPoint = point - centerLine;
+                float distanceToCenter = math.length(centerToPoint);
+
+                float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
+
+                projectedPoint.point = colliderToSolver.TransformPointUnscaled(centerLine + normal * shape.contactOffset);
+                projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+            }
+            else
+            {
+                float4 rayPoint = math.mul(simplexToSolver, new float4((rayOrigin + rayDirection * rayDistance).xyz,1));
+                float4 normal = math.normalizesafe(new float4((point - rayPoint).xyz,0));
+
+                projectedPoint.point = rayPoint + normal * shape.contactOffset;
+                projectedPoint.normal = normal;
+            }
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
+
+            co.queryPoint = colliderPoint.point;  
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
+
+            if (co.distance <= shape.maxDistance)
+            {
+                float4 pointOnRay = colliderPoint.point + colliderPoint.normal * co.distance;
+                co.distanceAlongRay = math.dot(pointOnRay.xyz - shape.center.xyz, math.normalizesafe(shape.size.xyz));
+                results.Enqueue(co);
+            }
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta
new file mode 100644
index 00000000..8d62f282
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 57b77d0143f8a4af18df103368d328f6
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
new file mode 100644
index 00000000..82cf497e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
@@ -0,0 +1,69 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstSphereQuery : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+            /*if (shape.is2D != 0)
+                point[2] = 0;*/
+
+            float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
+            float distanceToCenter = math.length(point);
+
+            float4 normal = point / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
+
+            co.queryPoint = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
+
+            if (co.distance <= shape.maxDistance)
+                results.Enqueue(co);
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta
new file mode 100644
index 00000000..50b176c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
new file mode 100644
index 00000000..1059408e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
@@ -0,0 +1,129 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    unsafe struct SpatialQueryJob : IJobParallelFor
+    {
+        //collider grid:
+        [ReadOnly] public NativeMultilevelGrid<int> grid;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float4> radii;
+        [ReadOnly] public NativeArray<int> filters;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // query arrays:
+        [ReadOnly] public NativeArray<BurstQueryShape> shapes;
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+
+        // output contacts queue:
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstQueryResult>.ParallelWriter results;
+
+        // auxiliar data:
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        // execute for each query shape:
+        public void Execute(int i)
+        {
+            var shapeToSolver = worldToSolver * transforms[i];
+
+            // calculate solver-space aabb of query shape:
+            BurstAabb queryBoundsSS = CalculateShapeAABB(shapes[i]).Transformed(shapeToSolver);
+
+            var shapeCategory = shapes[i].filter & ObiUtils.FilterCategoryBitmask;
+            var shapeMask = (shapes[i].filter & ObiUtils.FilterMaskBitmask) >> 16;
+
+            bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
+
+            // iterate over all occupied cells:
+            for (int c = 0; c < grid.usedCells.Length; ++c)
+            {
+                var cell = grid.usedCells[c];
+
+                // calculate thickened grid bounds:
+                float size = NativeMultilevelGrid<int>.CellSizeOfLevel(cell.Coords.w);
+                float4 cellPos = (float4)cell.Coords * size;
+                BurstAabb cellBounds = new BurstAabb(cellPos - new float4(size), cellPos + new float4(2 * size));
+
+                // if cell and query bounds intersect:
+                if (cellBounds.IntersectsAabb(in queryBoundsSS, is2D))
+                {
+                    // iterate over cell contents:
+                    for (int k = 0; k < cell.Length; ++k)
+                    {
+                        int simplexStart = simplexCounts.GetSimplexStartAndSize(cell[k], out int simplexSize);
+
+                        // check if any simplex particle and the query shape should collide:
+                        bool shouldCollide = false;
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
+                            var simplexMask = (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
+                            shouldCollide |= (simplexCategory & shapeMask) != 0 && (simplexMask & shapeCategory) != 0;
+                        }
+
+                        if (shouldCollide)
+                            Query(shapes[i], shapeToSolver, i, cell[k], simplexStart, simplexSize);
+                    }
+                }
+            }
+        }
+
+        private BurstAabb CalculateShapeAABB(in BurstQueryShape shape)
+        {
+            float offset = shape.contactOffset + shape.maxDistance;
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    return new BurstAabb(shape.center, shape.center, shape.size.x + offset);
+                case QueryShape.QueryType.Box:
+                    return new BurstAabb(shape.center - shape.size*0.5f - offset, shape.center + shape.size * 0.5f + offset);
+                case QueryShape.QueryType.Ray:
+                    return new BurstAabb(shape.center, shape.center + shape.size, offset);
+            }
+            return new BurstAabb();
+        }
+
+        private void Query(in BurstQueryShape shape,
+                           in BurstAffineTransform shapeToSolver,
+                           int shapeIndex,
+                           int simplexIndex,
+                           int simplexStart,
+                           int simplexSize)
+        {
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    BurstSphereQuery sphereShape = new BurstSphereQuery { colliderToSolver = shapeToSolver, shape = shape};
+                    sphereShape.Query(shapeIndex, positions, orientations, radii, simplices,
+                                      simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+                    break;
+                case QueryShape.QueryType.Box:
+                    BurstBoxQuery boxShape = new BurstBoxQuery { colliderToSolver = shapeToSolver, shape = shape};
+                    boxShape.Query(shapeIndex, positions, orientations, radii, simplices,
+                                      simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+                    break;
+                case QueryShape.QueryType.Ray:
+                    BurstRay rayShape = new BurstRay { colliderToSolver = shapeToSolver, shape = shape };
+                    rayShape.Query(shapeIndex, positions, orientations, radii, simplices,
+                                      simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+                    break;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs.meta
new file mode 100644
index 00000000..e44e250e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta
new file mode 100644
index 00000000..5085057b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta
@@ -0,0 +1,8 @@
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+folderAsset: yes
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta
new file mode 100644
index 00000000..632682d7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs
new file mode 100644
index 00000000..bcb70681
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs
@@ -0,0 +1,62 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct BuildParticleMeshDataJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> particleIndices;
+        [ReadOnly] public NativeArray<int> rendererIndices;
+        [ReadOnly] public NativeArray<ParticleRendererData> rendererData;
+
+        [ReadOnly] public NativeArray<float4> renderablePositions;
+        [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+        [ReadOnly] public NativeArray<float4> renderableRadii;
+        [ReadOnly] public NativeArray<float4> colors;
+
+        [NativeDisableParallelForRestriction] public NativeArray<ParticleVertex> vertices;
+        [NativeDisableParallelForRestriction] public NativeArray<int> indices;
+
+        [ReadOnly] public int firstParticle;
+
+        public void Execute(int i)
+        {
+            int p = particleIndices[firstParticle + i];
+            int r = rendererIndices[firstParticle + i];
+
+            ParticleVertex v = new ParticleVertex();
+
+            v.pos = new float4(renderablePositions[p].xyz, 1);
+            v.color = colors[p] * (Vector4)rendererData[r].color;
+            v.b1 = new float4(math.mul(renderableOrientations[p], new float3(1, 0, 0)), renderableRadii[p][0] * renderableRadii[p][3] * rendererData[r].radiusScale);
+            v.b2 = new float4(math.mul(renderableOrientations[p], new float3(0, 1, 0)), renderableRadii[p][1] * renderableRadii[p][3] * rendererData[r].radiusScale);
+            v.b3 = new float4(math.mul(renderableOrientations[p], new float3(0, 0, 1)), renderableRadii[p][2] * renderableRadii[p][3] * rendererData[r].radiusScale);
+
+            v.offset = new float3(1, 1, 0);
+            vertices[i * 4] = v;
+
+            v.offset = new float3(-1, 1, 0);
+            vertices[i * 4 + 1] = v;
+
+            v.offset = new float3(-1, -1, 0);
+            vertices[i * 4 + 2] = v;
+
+            v.offset = new float3(1, -1, 0);
+            vertices[i * 4 + 3] = v;
+
+            indices[i * 6] = (i * 4 + 2);
+            indices[i * 6 + 1] = (i * 4 + 1);
+            indices[i * 6 + 2] = (i * 4);
+
+            indices[i * 6 + 3] = (i * 4 + 3);
+            indices[i * 6 + 4] = (i * 4 + 2);
+            indices[i * 6 + 5] = (i * 4);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta
new file mode 100644
index 00000000..c205bf0f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs
new file mode 100644
index 00000000..b7257e94
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs
@@ -0,0 +1,242 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Collections.Generic;
+
+#if (SRP_UNIVERSAL)
+using UnityEngine.Rendering.Universal;
+#endif
+
+namespace Obi
+{
+
+    public class BurstFoamRenderSystem : ObiFoamRenderSystem
+    {
+        protected NativeArray<float2> sortHandles;
+
+        protected struct SortHandleComparer : IComparer<float2>
+        {
+            public int Compare(float2 a, float2 b)
+            {
+                return b.y.CompareTo(a.y);
+            }
+        }
+
+        protected SortHandleComparer comparer = new SortHandleComparer();
+
+        public BurstFoamRenderSystem(ObiSolver solver) : base(solver)
+        {
+#if (SRP_UNIVERSAL)
+            if (GraphicsSettings.currentRenderPipeline is UniversalRenderPipelineAsset)
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/URP/Fluid/FoamParticlesURP"), new RenderBatchParams(true));
+            else
+#endif
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/Fluid/FoamParticles"), new RenderBatchParams(true));
+            ReallocateRenderBatch();
+        }
+
+        public override void Dispose()
+        {
+            base.Dispose();
+
+            if (sortHandles.IsCreated)
+                sortHandles.Dispose();
+        }
+
+        private void ReallocateRenderBatch()
+        {
+            // in case the amount of particles allocated does not match
+            // the amount requested by the solver, reallocate
+            if (!sortHandles.IsCreated || m_Solver.foamPositions.count * 4 != renderBatch.vertexCount)
+            {
+                renderBatch.Dispose();
+                renderBatch.vertexCount = m_Solver.foamPositions.count * 4;
+                renderBatch.triangleCount = m_Solver.foamPositions.count * 2;
+                renderBatch.Initialize(layout);
+
+                if (sortHandles.IsCreated)
+                    sortHandles.Dispose();
+                sortHandles = new NativeArray<float2>(m_Solver.foamPositions.count, Allocator.Persistent);
+            }
+        }
+
+        public override void Setup()
+        {
+        }
+
+        public override void Step()
+        {
+        }
+
+        public override unsafe void Render()
+        {
+            if (!Application.isPlaying)
+                return;
+
+            var solver = m_Solver.implementation as BurstSolverImpl;
+
+            ReallocateRenderBatch();
+
+            foreach (Camera camera in cameras)
+            {
+                if (camera == null)
+                    continue;
+
+                JobHandle inputDeps = new JobHandle();
+                var sortJob = sortHandles.Slice(0, m_Solver.foamCount[3]).SortJob(comparer);
+
+                //Clear all triangle indices to zero:
+                UnsafeUtility.MemClear(
+                    NativeArrayUnsafeUtility.GetUnsafeBufferPointerWithoutChecks(renderBatch.triangles),
+                    UnsafeUtility.SizeOf<int>() * renderBatch.triangles.Length);
+
+                var projectJob = new ProjectOnSortAxisJob
+                {
+                    inputPositions = solver.abstraction.foamPositions.AsNativeArray<float4>(),
+                    sortHandles = sortHandles,
+                    sortAxis = camera.transform.forward
+                };
+
+                inputDeps = projectJob.Schedule(m_Solver.foamCount[3], 256, inputDeps);
+
+                inputDeps = sortJob.Schedule(inputDeps);
+
+                var sortParticlesJob = new SortParticles
+                {
+                    sortHandles = sortHandles,
+                    inputPositions = solver.abstraction.foamPositions.AsNativeArray<float4>(),
+                    inputVelocities = solver.abstraction.foamVelocities.AsNativeArray<float4>(),
+                    inputColors = solver.abstraction.foamColors.AsNativeArray<float4>(),
+                    inputAttributes = solver.abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    outputPositions = solver.auxPositions,
+                    outputVelocities = solver.auxVelocities,
+                    outputColors = solver.auxColors,
+                    outputAttributes = solver.auxAttributes
+                }; 
+
+                inputDeps = sortParticlesJob.Schedule(m_Solver.foamCount[3], 256, inputDeps);
+
+                var meshJob = new BuildFoamMeshDataJob
+                {
+                    inputPositions = solver.auxPositions,
+                    inputVelocities = solver.auxVelocities,
+                    inputColors = solver.auxColors,
+                    inputAttributes = solver.auxAttributes,
+
+                    vertices = renderBatch.vertices,
+                    indices = renderBatch.triangles,
+                };
+
+                inputDeps = meshJob.Schedule(m_Solver.foamCount[3], 128, inputDeps);
+
+                inputDeps.Complete();
+
+                renderBatch.mesh.SetVertexBufferData(renderBatch.vertices, 0, 0, renderBatch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+                renderBatch.mesh.SetIndexBufferData(renderBatch.triangles, 0, 0, renderBatch.triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                matProps.SetFloat("_FadeDepth", 0);
+                matProps.SetFloat("_VelocityStretching", m_Solver.maxFoamVelocityStretch);
+                matProps.SetFloat("_FadeIn", m_Solver.foamFade.x);
+                matProps.SetFloat("_FadeOut", m_Solver.foamFade.y);
+
+                var rp = renderBatch.renderParams;
+                rp.worldBounds = m_Solver.bounds;
+                rp.camera = camera;
+                rp.matProps = matProps;
+
+                Graphics.RenderMesh(rp, renderBatch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+            }
+        }
+
+
+
+        [BurstCompile]
+        unsafe struct ProjectOnSortAxisJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [NativeDisableParallelForRestriction] public NativeArray<float2> sortHandles;
+
+            public float3 sortAxis;
+
+            public void Execute(int i)
+            {
+                sortHandles[i] = new float2(i, math.dot(inputPositions[i].xyz, sortAxis));
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct SortParticles : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float2> sortHandles;
+
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [ReadOnly] public NativeArray<float4> inputVelocities;
+            [ReadOnly] public NativeArray<float4> inputColors;
+            [ReadOnly] public NativeArray<float4> inputAttributes;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+            public void Execute(int i)
+            {
+                int o = (int)sortHandles[i].x;
+                outputPositions[i] = inputPositions[o];
+                outputVelocities[i] = inputVelocities[o];
+                outputColors[i] = inputColors[o];
+                outputAttributes[i] = inputAttributes[o];
+            }
+        }
+
+        [BurstCompile]
+        struct BuildFoamMeshDataJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [ReadOnly] public NativeArray<float4> inputVelocities;
+            [ReadOnly] public NativeArray<float4> inputColors;
+            [ReadOnly] public NativeArray<float4> inputAttributes;
+
+            [NativeDisableParallelForRestriction] public NativeArray<DiffuseParticleVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> indices;
+
+            public void Execute(int i)
+            {
+                DiffuseParticleVertex v = new DiffuseParticleVertex();
+
+                v.pos = new float4(inputPositions[i].xyz, 1);
+                v.color = inputColors[i];
+                v.velocity = inputVelocities[i];
+                v.attributes = inputAttributes[i];
+
+                v.offset = new float3(1, 1, 0);
+                vertices[i * 4] = v;
+
+                v.offset = new float3(-1, 1, 0);
+                vertices[i * 4 + 1] = v;
+
+                v.offset = new float3(-1, -1, 0);
+                vertices[i * 4 + 2] = v;
+
+                v.offset = new float3(1, -1, 0);
+                vertices[i * 4 + 3] = v;
+
+                indices[i * 6] = (i * 4 + 2);
+                indices[i * 6 + 1] = (i * 4 + 1);
+                indices[i * 6 + 2] = (i * 4);
+
+                indices[i * 6 + 3] = (i * 4 + 3);
+                indices[i * 6 + 4] = (i * 4 + 2);
+                indices[i * 6 + 5] = (i * 4);
+            }
+        }
+
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta
new file mode 100644
index 00000000..5f9e611d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs
new file mode 100644
index 00000000..3441e2db
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs
@@ -0,0 +1,100 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+    public class BurstInstancedParticleRenderSystem : ObiInstancedParticleRenderSystem
+    {
+
+        public BurstInstancedParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                var instanceTransformsJob = new InstancedParticleTransforms
+                {
+                    activeParticles = activeParticles.AsNativeArray<int>(),
+                    rendererData = rendererData.AsNativeArray<ParticleRendererData>(),
+                    rendererIndex = rendererIndex.AsNativeArray<int>(),
+                    instanceTransforms = instanceTransforms.AsNativeArray<float4x4>(),
+                    instanceColors = instanceColors.AsNativeArray<float4>(),
+
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    renderableRadii = m_Solver.renderableRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    solverToWorld = m_Solver.transform.localToWorldMatrix
+                };
+
+                instanceTransformsJob.Schedule(activeParticles.count, 32).Complete();
+
+                var mpb = new MaterialPropertyBlock();
+
+                //Draw instances:
+                for (int i = 0; i < batchList.Count; i++)
+                {
+                    var batch = batchList[i];
+
+                    if (batch.instanceCount > 0)
+                    {
+                        // workaround for RenderMeshInstanced bug
+                        // (https://forum.unity.com/threads/gpu-instanced-custom-properties-dont-take-unity_baseinstanceid-into-account.1520602/)
+                        // also, no NativeArray<> overload :(
+                        mpb.SetVectorArray("_Colors", instanceColors.AsNativeArray<Vector4>().Slice(batch.firstInstance, batch.instanceCount).ToArray()); 
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        // TODO: use generic overload to pass matrix + instance color.
+                        Graphics.RenderMeshInstanced(rp, batch.mesh, 0, instanceTransforms.AsNativeArray<Matrix4x4>(), batch.instanceCount, batch.firstInstance);
+                    }
+                }
+                
+            }
+        }
+
+        [BurstCompile]
+        struct InstancedParticleTransforms : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> activeParticles;
+            [ReadOnly] public NativeArray<ParticleRendererData> rendererData;
+            [ReadOnly] public NativeArray<int> rendererIndex;
+
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+            [ReadOnly] public NativeArray<float4> renderableRadii;
+            [ReadOnly] public NativeArray<float4> colors;
+            [ReadOnly] public float4x4 solverToWorld;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4x4> instanceTransforms;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> instanceColors;
+
+            public void Execute(int i)
+            {
+                int p = activeParticles[i];
+
+                Matrix4x4 tfrm = float4x4.TRS(renderablePositions[p].xyz,
+                                              renderableOrientations[p],
+                                              renderableRadii[p].xyz * renderableRadii[p][3] * rendererData[rendererIndex[i]].radiusScale);
+
+                instanceTransforms[i] = math.mul(solverToWorld, tfrm);
+
+                instanceColors[i] = colors[p] * (Vector4)rendererData[rendererIndex[i]].color;
+            }
+           
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..2910089f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b3896a2253db543bcaa92126d83a7ba0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs
new file mode 100644
index 00000000..7b1460a3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs
@@ -0,0 +1,58 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstParticleRenderSystem : ObiParticleRenderSystem
+    {
+        public BurstParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            m_Solver = solver;
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var buildArraysJob = new BuildParticleMeshDataJob
+                    {
+                        particleIndices = activeParticles.AsNativeArray<int>(),
+                        rendererIndices = rendererIndex.AsNativeArray<int>(),
+                        rendererData = rendererData.AsNativeArray<ParticleRendererData>(),
+
+                        renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                        renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                        renderableRadii = m_Solver.renderableRadii.AsNativeArray<float4>(),
+                        colors = m_Solver.colors.AsNativeArray<float4>(),
+
+                        vertices = batch.vertices,
+                        indices = batch.triangles,
+
+                        firstParticle = batch.firstParticle,
+                    };
+
+                    buildArraysJob.Schedule(batch.vertexCount / 4, 32).Complete();
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+
+            }
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..89d3acbb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d1d1ddc20ab7148e3ac806e3559ba2b8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta
new file mode 100644
index 00000000..0222329f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 68fb3be53914247609d4e6da4f249e52
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs
new file mode 100644
index 00000000..2fefee05
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs
@@ -0,0 +1,139 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+
+namespace Obi
+{
+
+    public class BurstChainRopeRenderSystem : ObiChainRopeRenderSystem
+    {
+        protected Matrix4x4[] transformsArray = new Matrix4x4[1023];
+
+        public BurstChainRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                // generate raw frames using parallel transport
+                var instanceTransformsJob = new InstanceTransforms()
+                {
+                    rendererData = rendererData.AsNativeArray<ChainRendererData>(),
+                    chunkData = chunkData.AsNativeArray<ChunkData>(),
+                    modifiers = modifiers.AsNativeArray<ObiRopeChainRenderer.LinkModifier>(),
+                    elements = elements.AsNativeArray<int2>(),
+
+                    instanceTransforms = instanceTransforms.AsNativeArray<float4x4>(),
+                    instanceColors = instanceColors.AsNativeArray<float4>(),
+
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = m_Solver.principalRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    solverToWorld = m_Solver.transform.localToWorldMatrix,
+                };
+
+                instanceTransformsJob.Schedule(chunkData.count, 8).Complete();
+
+                //Draw instances:
+                for (int i = 0; i < batchList.Count; i++)
+                {
+                    var batch = batchList[i];
+
+                    var rp = batch.renderParams;
+                    rp.material = batch.material;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMeshInstanced(rp, batch.mesh, 0, instanceTransforms.AsNativeArray<Matrix4x4>(), batch.instanceCount, batch.firstInstance);
+                }
+                
+            }
+        }
+
+        [BurstCompile]
+        struct InstanceTransforms : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<ChainRendererData> rendererData;
+            [ReadOnly] public NativeArray<ChunkData> chunkData;
+            [ReadOnly] public NativeArray<ObiRopeChainRenderer.LinkModifier> modifiers;
+            [ReadOnly] public NativeArray<int2> elements;
+
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> colors;
+            [ReadOnly] public float4x4 solverToWorld;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4x4> instanceTransforms;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> instanceColors;
+
+            public void Execute(int i)
+            {
+                int firstIndex = i > 0 ? chunkData[i - 1].offset : 0;
+                int elementCount = chunkData[i].offset - firstIndex;
+
+                var rendererIndex = chunkData[i].rendererIndex;
+                var renderer = rendererData[rendererIndex];
+
+                float3 rendScale = ((float4)renderer.scale).xyz;
+
+                int firstModifier = rendererIndex > 0 ? rendererData[rendererIndex - 1].modifierOffset : 0;
+                int modifierCount = renderer.modifierOffset - firstModifier;
+
+                var modifier = new ObiRopeChainRenderer.LinkModifier();
+                modifier.Clear();
+
+                BurstPathFrame frame = new BurstPathFrame();
+                frame.Reset();
+
+                float twist = -renderer.twist * elementCount * renderer.twistAnchor;
+                frame.SetTwist(twist);
+
+                // parallel transport:
+                for (int m = 0; m < elementCount; ++m)
+                {
+                    if (modifierCount > 0)
+                        modifier = modifiers[firstModifier + m % modifierCount];
+
+                    int index = firstIndex + m;
+                    float4 pos     = renderablePositions[elements[index].x];
+                    float4 nextPos = renderablePositions[elements[index].y];
+                    float4 vector = nextPos - pos;
+                    float3 tangent = math.normalizesafe(vector.xyz);
+
+                    if (renderer.usesOrientedParticles == 1)
+                    {
+                        frame.Transport(nextPos.xyz, tangent, math.rotate(renderableOrientations[elements[index].x], new float3(0, 1, 0)), twist);
+                        twist += renderer.twist;
+                    }
+                    else
+                        frame.Transport(nextPos.xyz, tangent, renderer.twist);
+
+                    var rotation = quaternion.LookRotationSafe(frame.tangent, frame.normal); 
+                    var position = (pos + vector * 0.5f).xyz + math.mul(rotation, modifier.translation);
+                    var scale = principalRadii[elements[index].x].x * 2 * rendScale * modifier.scale;
+
+                    rotation = math.mul(rotation, quaternion.Euler(math.radians(modifier.rotation)));
+
+                    instanceTransforms[index] = math.mul(solverToWorld,float4x4.TRS(position,rotation,scale));
+                    instanceColors[index] = (colors[elements[index].x] + colors[elements[index].y]) * 0.5f;
+                }
+            }
+           
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..ce727dba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3c63ccd17bfc14b40a403c1c9a0be2c0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs
new file mode 100644
index 00000000..c133f40b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs
@@ -0,0 +1,215 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstExtrudedRopeRenderSystem : ObiExtrudedRopeRenderSystem
+    {
+        public BurstExtrudedRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, false);
+        }
+
+        public override void Render()
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildExtrudedMesh
+                    {
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        sectionData = sectionData.AsNativeArray<float2>(),
+                        sectionOffsets = sectionOffsets.AsNativeArray<int>(),
+                        sectionIndices = sectionIndices.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+                        triangleOffsets = triangleOffsets.AsNativeArray<int>(),
+                        triangleCounts = triangleCounts.AsNativeArray<int>(),
+
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+                        rendererData = rendererData.AsNativeArray<BurstExtrudedMeshData>(),
+
+                        vertices = batch.vertices,
+                        tris = batch.triangles,
+
+                        firstRenderer = batch.firstRenderer
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildExtrudedMesh : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<float2> sectionData;
+            [ReadOnly] public NativeArray<int> sectionOffsets;
+            [ReadOnly] public NativeArray<int> sectionIndices;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+            [ReadOnly] public NativeArray<int> triangleOffsets;
+            [ReadOnly] public NativeArray<int> triangleCounts;
+
+            [ReadOnly] public NativeArray<BurstExtrudedMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [NativeDisableParallelForRestriction] public NativeArray<ProceduralRopeVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> tris;
+
+            [ReadOnly] public int firstRenderer;
+
+            public void Execute(int u)
+            {
+                int k = firstRenderer + u;
+                int s = pathSmootherIndices[k];
+
+                float3 vertex = float3.zero;
+                float3 normal = float3.zero;
+                float4 texTangent = float4.zero;
+
+                int tri = 0;
+                int sectionIndex = 0;
+                int sectionStart = sectionOffsets[sectionIndices[k]];
+                int sectionSegments = (sectionOffsets[sectionIndices[k] + 1] - sectionStart) - 1;
+                int verticesPerSection = sectionSegments + 1;   // the last vertex in each section must be duplicated, due to uv wraparound.
+
+                float smoothLength = 0;
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                    smoothLength += pathData[i].smoothLength;
+
+                float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+                float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+                int firstVertex = vertexOffsets[k];
+                int firstTriangle = triangleOffsets[k];
+
+                // clear out triangle indices for this rope:
+                for (int i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+                {
+                    int offset = i * 3;
+                    tris[offset] = 0;
+                    tris[offset+1] = 0;
+                    tris[offset+2] = 0;
+                }
+
+                // for each chunk in the rope:
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                {
+                    int firstFrame = frameOffsets[i];
+                    int frameCount = frameCounts[i];
+
+                    for (int f = 0; f < frameCount; ++f)
+                    {
+                        // Calculate previous and next curve indices:
+                        int prevIndex = firstFrame + math.max(f - 1, 0);
+                        int index = firstFrame + f;
+
+                        // advance v texcoord:
+                        vCoord += rendererData[k].uvScale.y * (math.distance(frames[index].position, frames[prevIndex].position) /
+                                                          (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+                        // calculate section thickness and scale the basis vectors by it:
+                        float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+                        // Loop around each segment:
+                        int nextSectionIndex = sectionIndex + 1;
+                        for (int j = 0; j <= sectionSegments; ++j)
+                        {
+                            // make just one copy of the section vertex:
+                            float2 sectionVertex = sectionData[sectionStart + j];
+
+                            // calculate normal using section vertex, curve normal and binormal:
+                            normal.x = (sectionVertex.x * frames[index].normal.x + sectionVertex.y * frames[index].binormal.x) * sectionThickness;
+                            normal.y = (sectionVertex.x * frames[index].normal.y + sectionVertex.y * frames[index].binormal.y) * sectionThickness;
+                            normal.z = (sectionVertex.x * frames[index].normal.z + sectionVertex.y * frames[index].binormal.z) * sectionThickness;
+
+                            // offset curve position by normal:
+                            vertex.x = frames[index].position.x + normal.x;
+                            vertex.y = frames[index].position.y + normal.y;
+                            vertex.z = frames[index].position.z + normal.z;
+
+                            // cross(normal, curve tangent)
+                            texTangent.xyz = math.cross(normal, frames[index].tangent);
+                            texTangent.w = -1;
+
+                            vertices[firstVertex + sectionIndex * verticesPerSection + j] = new ProceduralRopeVertex
+                            {
+                                pos = vertex,
+                                normal = normal,
+                                tangent = texTangent,
+                                color = frames[index].color,
+                                uv = new float2(j / (float)sectionSegments * rendererData[k].uvScale.x, vCoord)
+                            };
+
+                            if (j < sectionSegments && f < frameCount - 1)
+                            {
+                                int offset = firstTriangle * 3;
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + (j + 1));
+
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + (j + 1));
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + (j + 1));
+                            }
+                        }
+                        sectionIndex++;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..0fced1ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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+MonoImporter:
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+  serializedVersion: 2
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+  executionOrder: 0
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs
new file mode 100644
index 00000000..80dbaf02
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs
@@ -0,0 +1,215 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstLineRopeRenderSystem : ObiLineRopeRenderSystem
+    {
+        public BurstLineRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, false);
+        }
+
+        public override void Render(){}
+
+        public override void RenderFromCamera(Camera camera)
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildLineMesh
+                    {
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+                        triangleOffsets = triangleOffsets.AsNativeArray<int>(),
+                        triangleCounts = triangleCounts.AsNativeArray<int>(),
+
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+                        rendererData = rendererData.AsNativeArray<BurstLineMeshData>(),
+
+                        vertices = batch.vertices,
+                        tris = batch.triangles,
+
+                        firstRenderer = batch.firstRenderer,
+                        localSpaceCamera = m_Solver.transform.InverseTransformPoint(camera.transform.position)
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildLineMesh : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+            [ReadOnly] public NativeArray<int> triangleOffsets;
+            [ReadOnly] public NativeArray<int> triangleCounts;
+
+            [ReadOnly] public NativeArray<BurstLineMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [NativeDisableParallelForRestriction] public NativeArray<ProceduralRopeVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> tris;
+
+            [ReadOnly] public int firstRenderer;
+
+            [ReadOnly] public float3 localSpaceCamera;
+
+            public void Execute(int u)
+            {
+                int k = firstRenderer + u;
+                int s = pathSmootherIndices[k];
+
+                float3 vertex = float3.zero;
+                float3 normal = float3.zero;
+                float4 bitangent = float4.zero;
+
+                int tri = 0;
+                int sectionIndex = 0;
+                int firstVertex = vertexOffsets[k];
+                int firstTriangle = triangleOffsets[k];
+
+                float smoothLength = 0;
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                    smoothLength += pathData[i].smoothLength;
+
+                float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+                float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+                // clear out triangle indices for this rope:
+                for (int i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+                {
+                    int offset = i * 3;
+                    tris[offset] = 0;
+                    tris[offset+1] = 0;
+                    tris[offset+2] = 0;
+                }
+
+                // for each chunk in the rope:
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                {
+                    int firstFrame = frameOffsets[i];
+                    int frameCount = frameCounts[i];
+
+                    for (int f = 0; f < frameCount; ++f)
+                    {
+                        // Calculate previous and next curve indices:
+                        int prevIndex = firstFrame + math.max(f - 1, 0);
+                        int index = firstFrame + f;
+
+                        // advance v texcoord:
+                        vCoord += rendererData[k].uvScale.y * (math.distance(frames[index].position, frames[prevIndex].position) /
+                                                          (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+                        // calculate section thickness and scale the basis vectors by it:
+                        float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+                        normal.x = frames[index].position.x - localSpaceCamera.x;
+                        normal.y = frames[index].position.y - localSpaceCamera.y;
+                        normal.z = frames[index].position.z - localSpaceCamera.z;
+                        normal = math.normalize(normal);
+
+                        bitangent.x = -(normal.y * frames[index].tangent.z - normal.z * frames[index].tangent.y);
+                        bitangent.y = -(normal.z * frames[index].tangent.x - normal.x * frames[index].tangent.z);
+                        bitangent.z = -(normal.x * frames[index].tangent.y - normal.y * frames[index].tangent.x);
+                        bitangent.xyz = math.normalize(bitangent.xyz);
+                        bitangent.w = 1;
+
+                        vertex.x = frames[index].position.x - bitangent.x * sectionThickness;
+                        vertex.y = frames[index].position.y - bitangent.y * sectionThickness;
+                        vertex.z = frames[index].position.z - bitangent.z * sectionThickness;
+
+                        vertices[firstVertex + sectionIndex * 2] = new ProceduralRopeVertex
+                        {
+                            pos = vertex,
+                            normal = -normal,
+                            tangent = bitangent,
+                            color = frames[index].color,
+                            uv = new float2(0, vCoord)
+                        };
+
+                        vertex.x = frames[index].position.x + bitangent.x * sectionThickness;
+                        vertex.y = frames[index].position.y + bitangent.y * sectionThickness;
+                        vertex.z = frames[index].position.z + bitangent.z * sectionThickness;
+
+                        vertices[firstVertex + sectionIndex * 2 + 1] = new ProceduralRopeVertex
+                        {
+                            pos = vertex,
+                            normal = -normal,
+                            tangent = bitangent,
+                            color = frames[index].color,
+                            uv = new float2(1, vCoord)
+                        };
+
+                        if (f < frameCount - 1)
+                        {
+                            int offset = firstTriangle * 3;
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2;
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2 + 1;
+
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2 + 1;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2 + 1;
+                        }
+
+                        sectionIndex++;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..7ab2fc4e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5f950cc46a13e4273856e2ec96c59eb9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs
new file mode 100644
index 00000000..3a78845b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs
@@ -0,0 +1,272 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class BurstMeshRopeRenderSystem : ObiMeshRopeRenderSystem
+    {
+        public BurstMeshRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        protected override void CloseBatches()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(sortedRenderers, meshData, meshIndices, layout, false);
+
+            base.CloseBatches();
+        }
+
+        public override void Render()
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildRopeMeshJob
+                    {
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+
+                        meshIndices = meshIndices.AsNativeArray<int>(),
+                        meshData = meshData.meshData.AsNativeArray<MeshDataBatch.MeshData>(),
+
+                        rendererData = rendererData.AsNativeArray<BurstMeshData>(),
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+
+                        sortedIndices = sortedIndices.AsNativeArray<int>(),
+                        sortedOffsets = sortedOffsets.AsNativeArray<int>(),
+
+                        positions = meshData.restPositions.AsNativeArray<float3>(),
+                        normals = meshData.restNormals.AsNativeArray<float3>(),
+                        tangents = meshData.restTangents.AsNativeArray<float4>(),
+                        colors = meshData.restColors.AsNativeArray<float4>(),
+
+                        vertices = batch.dynamicVertexData.AsNativeArray<RopeMeshVertex>(),
+
+                        firstRenderer = batch.firstRenderer
+
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    for (int m = 0; m < batch.materials.Length; ++m)
+                    {
+                        rp.material = batch.materials[m];
+                        Graphics.RenderMesh(rp, batch.mesh, m, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+
+                        // Unity bug: Graphics.RenderMesh consistently crashes when existing play mode (seems fixed in 2021.3.4f1)
+                        // https://issuetracker.unity3d.com/issues/the-editor-crashes-on-exit-when-using-graphics-dot-rendermesh
+                        //renderParams.material = batch.materials[m];
+                        //renderParams.camera = null;
+                        //Graphics.RenderMesh(renderParams, batch.mesh, m, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildRopeMeshJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+
+            [ReadOnly] public NativeArray<int> meshIndices;
+            [ReadOnly] public NativeArray<MeshDataBatch.MeshData> meshData;
+
+            [ReadOnly] public NativeArray<BurstMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [ReadOnly] public NativeArray<int> sortedIndices;
+            [ReadOnly] public NativeArray<int> sortedOffsets;
+
+            [ReadOnly] public NativeArray<float3> positions;
+            [ReadOnly] public NativeArray<float3> normals;
+            [ReadOnly] public NativeArray<float4> tangents;
+            [ReadOnly] public NativeArray<float4> colors;
+
+            [NativeDisableParallelForRestriction] public NativeArray<RopeMeshVertex> vertices;
+
+            [ReadOnly] public int firstRenderer;
+
+            public void Execute(int i)
+            {
+                int rendererIndex = firstRenderer + i;
+                int pathIndex = pathSmootherIndices[rendererIndex];
+                var renderer = rendererData[rendererIndex];
+
+                // get mesh data:
+                var mesh = meshData[meshIndices[rendererIndex]];
+                var sortedOffset = sortedOffsets[rendererIndex];
+
+                // get index of first output vertex:
+                int firstOutputVertex = vertexOffsets[rendererIndex];
+
+                // get index of first chunk, ignore others (no support for tearing):
+                int chunkIndex = chunkOffsets[pathIndex]; 
+
+                // get first frame and frame count:
+                int firstFrame = frameOffsets[chunkIndex];
+                int lastFrame = firstFrame + frameCounts[chunkIndex] - 1;
+
+                // get mesh deform axis:
+                int axis = (int)renderer.axis;
+
+                // initialize scale vector:
+                float3 actualScale = (Vector3)renderer.scale;
+
+                // calculate stretch ratio:
+                float stretchRatio = renderer.stretchWithRope == 1 ? pathData[chunkIndex].smoothLength / pathData[chunkIndex].restLength : 1;
+
+                // squashing factor, makes mesh thinner when stretched and thicker when compresssed.
+                float squashing = math.clamp(1 + renderer.volumeScaling * (1 / math.max(stretchRatio, 0.01f) - 1), 0.01f, 2);
+
+                // calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
+                if (renderer.spanEntireLength == 1)
+                {
+                    float totalMeshLength = renderer.meshSizeAlongAxis * renderer.instances;
+                    float totalSpacing = renderer.instanceSpacing * (renderer.instances - 1);
+                    actualScale[axis] = pathData[chunkIndex].restLength / (totalMeshLength + totalSpacing);
+                }
+
+                // adjust axis lenght by stretch ratio:
+                actualScale[axis] *= stretchRatio;
+
+                // init loop variables:
+                float lengthAlongAxis = renderer.offset;
+                int index = firstFrame;
+                int nextIndex = firstFrame + 1;
+                int prevIndex = firstFrame;
+                float nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                float prevMagnitude = nextMagnitude;
+
+                for (int k = 0; k < renderer.instances; ++k)
+                {
+                    for (int j = 0; j < mesh.vertexCount; ++j)
+                    {
+                        int currVIndex = mesh.firstVertex + sortedIndices[sortedOffset + j]; 
+                        int prevVIndex = mesh.firstVertex + sortedIndices[sortedOffset + math.max(0,j - 1)];
+
+                        // calculate how much we've advanced in the sort axis since the last vertex:
+                        lengthAlongAxis += (positions[currVIndex][axis] - positions[prevVIndex][axis]) * actualScale[axis];
+
+                        // check if we have moved to a new section of the curve:
+                        BurstPathFrame frame;
+                        if (lengthAlongAxis < 0)
+                        {
+                            while (-lengthAlongAxis > prevMagnitude && index > firstFrame)
+                            {
+                                lengthAlongAxis += prevMagnitude;
+                                index = math.max(index - 1, firstFrame);
+                                nextIndex = math.min(index + 1, lastFrame);
+                                prevIndex = math.max(index - 1, firstFrame);
+                                nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                                prevMagnitude = math.distance(frames[index].position, frames[prevIndex].position);
+                            }
+
+                            var offset = float3.zero;
+                            if (index == prevIndex)
+                            {
+                                offset = frames[index].position - frames[nextIndex].position;
+                                prevMagnitude = math.length(offset);
+                            }
+
+                            frame = InterpolateFrames(frames[index], frames[prevIndex], offset, -lengthAlongAxis / prevMagnitude);
+                        }
+                        else
+                        {
+                            while (lengthAlongAxis > nextMagnitude && index < lastFrame)
+                            {
+                                lengthAlongAxis -= nextMagnitude;
+                                index = math.min(index + 1, lastFrame);
+                                nextIndex = math.min(index + 1, lastFrame);
+                                prevIndex = math.max(index - 1, firstFrame);
+                                nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                                prevMagnitude = math.distance(frames[index].position, frames[prevIndex].position);
+                            }
+
+                            var offset = float3.zero;
+                            if (index == nextIndex)
+                            {
+                                offset = frames[index].position - frames[prevIndex].position;
+                                nextMagnitude = math.length(offset);
+                            }
+
+                            frame = InterpolateFrames(frames[index], frames[nextIndex], offset, lengthAlongAxis / nextMagnitude);
+                        }
+
+                        // update basis matrix:
+                        var basis = frame.ToMatrix(axis);
+
+                        // calculate vertex offset from curve:
+                        float3 offsetFromCurve = positions[currVIndex] * actualScale * frame.thickness * squashing;
+                        offsetFromCurve[axis] = 0;
+
+                        // write modified vertex data:
+                        vertices[firstOutputVertex + sortedIndices[sortedOffset + j]] = new RopeMeshVertex
+                        {
+                            pos = frame.position + math.mul(basis, offsetFromCurve),
+                            normal = math.mul(basis, normals[currVIndex]),
+                            tangent = new float4(math.mul(basis, tangents[currVIndex].xyz), tangents[currVIndex].w),
+                            color = colors[currVIndex] * frame.color,
+                        };
+                    }
+
+                    firstOutputVertex += mesh.vertexCount;
+                    lengthAlongAxis += renderer.instanceSpacing * actualScale[axis];
+                }
+            }
+
+            BurstPathFrame InterpolateFrames(BurstPathFrame a, BurstPathFrame b, float3 bOffset, float t)
+            {
+                // this offset is used to displace a copy of the first and last frames of the path,
+                // to ensure meshes extrude correctly prior to the first or past the last frame. 
+                b.position += bOffset;
+                var interp = (1 - t) * a + t * b;
+
+                // (no need to renormalize tangent, since offsetFromCurve[axis] = 0)
+                interp.normal = math.normalize(interp.normal);
+                interp.binormal = math.normalize(interp.binormal);
+                return interp;
+            }
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..a4927d49
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1578f081848d045dba76cd147f835e7c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs
new file mode 100644
index 00000000..cbf52794
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs
@@ -0,0 +1,170 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstPathFrame
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2
+        }
+
+        public float3 position;
+        public float3 tangent;
+        public float3 normal;
+        public float3 binormal;
+        public float4 color;
+        public float thickness;
+
+        public BurstPathFrame(float3 position, float3 tangent, float3 normal, float3 binormal, float4 color, float thickness)
+        {
+            this.position = position;
+            this.normal = normal;
+            this.tangent = tangent;
+            this.binormal = binormal;
+            this.color = color;
+            this.thickness = thickness;
+        }
+
+        public void Reset()
+        {
+            position = float3.zero;
+            tangent = new float3(0, 0, 1);
+            normal = new float3(0, 1, 0);
+            binormal = new float3(1, 0, 0);
+            color = new float4(1, 1, 1, 1);
+            thickness = 0;
+        }
+
+        public static BurstPathFrame operator +(BurstPathFrame c1, BurstPathFrame c2)
+        {
+            return new BurstPathFrame(c1.position + c2.position, c1.tangent + c2.tangent, c1.normal + c2.normal, c1.binormal + c2.binormal, c1.color + c2.color, c1.thickness + c2.thickness);
+        }
+
+        public static BurstPathFrame operator *(float f, BurstPathFrame c)
+        {
+            return new BurstPathFrame(c.position * f, c.tangent * f, c.normal * f, c.binormal * f, c.color * f, c.thickness * f);
+        }
+
+        public static void WeightedSum(float w1, float w2, float w3, in BurstPathFrame c1, in BurstPathFrame c2, in BurstPathFrame c3, ref BurstPathFrame sum)
+        {
+            sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
+            sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
+            sum.position.z = c1.position.z * w1 + c2.position.z * w2 + c3.position.z * w3;
+
+            sum.tangent.x = c1.tangent.x * w1 + c2.tangent.x * w2 + c3.tangent.x * w3;
+            sum.tangent.y = c1.tangent.y * w1 + c2.tangent.y * w2 + c3.tangent.y * w3;
+            sum.tangent.z = c1.tangent.z * w1 + c2.tangent.z * w2 + c3.tangent.z * w3;
+
+            sum.normal.x = c1.normal.x * w1 + c2.normal.x * w2 + c3.normal.x * w3;
+            sum.normal.y = c1.normal.y * w1 + c2.normal.y * w2 + c3.normal.y * w3;
+            sum.normal.z = c1.normal.z * w1 + c2.normal.z * w2 + c3.normal.z * w3;
+
+            sum.binormal.x = c1.binormal.x * w1 + c2.binormal.x * w2 + c3.binormal.x * w3;
+            sum.binormal.y = c1.binormal.y * w1 + c2.binormal.y * w2 + c3.binormal.y * w3;
+            sum.binormal.z = c1.binormal.z * w1 + c2.binormal.z * w2 + c3.binormal.z * w3;
+
+            sum.color.x = c1.color.x * w1 + c2.color.x * w2 + c3.color.x * w3;
+            sum.color.y = c1.color.y * w1 + c2.color.y * w2 + c3.color.y * w3;
+            sum.color.z = c1.color.z * w1 + c2.color.z * w2 + c3.color.z * w3;
+            sum.color.w = c1.color.w * w1 + c2.color.w * w2 + c3.color.w * w3;
+
+            sum.thickness = c1.thickness * w1 + c2.thickness * w2 + c3.thickness * w3;
+        }
+
+        public void SetTwist(float twist)
+        {
+            quaternion twistQ = quaternion.AxisAngle(tangent, math.radians(twist));
+            normal = math.mul(twistQ, normal);
+            binormal = math.mul(twistQ, binormal);
+        }
+
+        public static quaternion FromToRotation(float3 aFrom, float3 aTo)
+        {
+            float3 axis = math.cross(aFrom, aTo);
+            float angle = math.acos(math.clamp(math.dot(math.normalize(aFrom), math.normalize(aTo)), -1f, 1f));
+            return quaternion.AxisAngle(math.normalize(axis), angle);
+        }
+
+        public void SetTwistAndTangent(float twist, float3 tangent)
+        {
+            this.tangent = tangent;
+            normal = math.normalize(new float3(tangent.y, tangent.x, 0));
+            binormal = math.cross(normal, tangent);
+
+            quaternion twistQ = quaternion.AxisAngle(tangent, math.radians(twist));
+            normal = math.mul(twistQ, normal);
+            binormal = math.mul(twistQ, binormal);
+        }
+
+        public void Transport(in BurstPathFrame frame, float twist)
+        {
+            // Calculate delta rotation:
+            quaternion rotQ = Quaternion.FromToRotation(tangent, frame.tangent);
+            quaternion twistQ = quaternion.AxisAngle(frame.tangent, math.radians(twist));
+            quaternion finalQ = math.mul(twistQ, rotQ);
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = math.mul(finalQ, normal);
+            binormal = math.mul(finalQ, binormal);
+            tangent = frame.tangent;
+            position = frame.position;
+            thickness = frame.thickness;
+            color = frame.color;
+        }
+
+        public void Transport(float3 newPosition, float3 newTangent, float twist)
+        {
+            // Calculate delta rotation:
+            quaternion rotQ = Quaternion.FromToRotation(tangent, newTangent);
+            quaternion twistQ = quaternion.AxisAngle(newTangent, math.radians(twist));
+            quaternion finalQ = math.mul(twistQ, rotQ);
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = math.mul(finalQ, normal);
+            binormal = math.mul(finalQ, binormal);
+            tangent = newTangent;
+            position = newPosition;
+
+        }
+
+        // Transport, hinting the normal.
+        public void Transport(float3 newPosition, float3 newTangent, float3 newNormal, float twist)
+        {
+            normal = math.mul(quaternion.AxisAngle(newTangent, math.radians(twist)), newNormal);
+            tangent = newTangent;
+            binormal = math.cross(normal, tangent);
+            position = newPosition;
+        }
+
+        public float3x3 ToMatrix(int mainAxis)
+        {
+            float3x3 basis = new float3x3();
+
+            int xo = (mainAxis) % 3;
+            int yo = (mainAxis + 1) % 3;
+            int zo = (mainAxis + 2) % 3;
+
+            basis[xo] = tangent;
+            basis[yo] = binormal;
+            basis[zo] = normal;
+
+            return basis;
+        }
+
+        public void DebugDraw(float size)
+        {
+            Debug.DrawRay(position, binormal * size, Color.red);
+            Debug.DrawRay(position, normal * size, Color.green);
+            Debug.DrawRay(position, tangent * size, Color.blue);
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta
new file mode 100644
index 00000000..284880b9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4827bd4bd4feb46bfbe458174871b8ee
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs
new file mode 100644
index 00000000..3d113624
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs
@@ -0,0 +1,63 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstPathSmootherRenderSystem : ObiPathSmootherRenderSystem
+    {
+        public BurstPathSmootherRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                base.Render();
+
+                // generate raw frames using parallel transport
+                var parallelTransportJob = new ParallelTransportJob
+                {
+                    pathFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    frameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    particleIndices = particleIndices.AsNativeArray<int>(),
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = m_Solver.principalRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                var handle = parallelTransportJob.Schedule(rawFrameOffsets.count, 4);
+
+                // throw away unneeded frames using decimation
+                var decimationJob = new DecimateChunksJob
+                {
+                    inputFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    inputFrameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    outputFrameCounts = decimatedFrameCounts.AsNativeArray<int>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                handle = decimationJob.Schedule(rawFrameOffsets.count, 4, handle);
+
+                // smooth chunks:
+                var chaikinJob = new ChaikinSmoothChunksJob()
+                {
+                    inputFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    inputFrameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    inputFrameCounts = decimatedFrameCounts.AsNativeArray<int>(),
+                    outputFrames = smoothFrames.AsNativeArray<BurstPathFrame>(),
+                    outputFrameOffsets = smoothFrameOffsets.AsNativeArray<int>(),
+                    outputFrameCounts = smoothFrameCounts.AsNativeArray<int>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                chaikinJob.Schedule(rawFrameOffsets.count, 4, handle).Complete();
+            }
+        }
+    }
+}
+#endif
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta
new file mode 100644
index 00000000..7cf39ab5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be61f37ff31ff43ebb9bc8a55bd3edc7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs
new file mode 100644
index 00000000..9a7587f8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct ChaikinSmoothChunksJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> inputFrames;
+        [ReadOnly] public NativeArray<int> inputFrameOffsets;
+        [ReadOnly] public NativeArray<int> inputFrameCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> outputFrames;
+        [ReadOnly] public NativeArray<int> outputFrameOffsets;
+        [NativeDisableParallelForRestriction] public NativeArray<int> outputFrameCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+            int firstInputIndex = i > 0 ? inputFrameOffsets[i - 1] : 0;
+            int inputFrameCount = inputFrameCounts[i];
+
+            int firstOutputIndex = outputFrameOffsets[i];
+
+            int k = (int)pathData[i].smoothing;
+
+            // No work to do. just copy the input to the output:
+            if (k == 0)
+            {
+                outputFrameCounts[i] = inputFrameCount;
+                for (int j = 0; j < inputFrameCount; ++j)
+                    outputFrames[firstOutputIndex + j] = inputFrames[firstInputIndex + j];
+            }
+            else
+            {
+                // precalculate some quantities:
+                int pCount = (int)math.pow(2, k);
+                int n0 = inputFrameCount - 1;
+                float twoRaisedToMinusKPlus1 = math.pow(2, -(k + 1));
+                float twoRaisedToMinusK = math.pow(2, -k);
+                float twoRaisedToMinus2K = math.pow(2, -2 * k);
+                float twoRaisedToMinus2KMinus1 = math.pow(2, -2 * k - 1);
+
+                outputFrameCounts[i] = (inputFrameCount - 2) * pCount + 2;
+
+                // calculate initial curve points:
+                outputFrames[firstOutputIndex] = (0.5f + twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex] + (0.5f - twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + 1];
+                outputFrames[firstOutputIndex + pCount * n0 - pCount + 1] = (0.5f - twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + n0 - 1] + (0.5f + twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + n0];
+
+                // calculate internal points:
+                for (int j = 1; j <= pCount; ++j)
+                {
+                    // precalculate coefficients:
+                    float F = 0.5f - twoRaisedToMinusKPlus1 - (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2KMinus1);
+                    float G = 0.5f + twoRaisedToMinusKPlus1 + (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2K);
+                    float H = (j - 1) * j * twoRaisedToMinus2KMinus1;
+
+                    for (int l = 1; l < n0; ++l)
+                    {
+                        BurstPathFrame.WeightedSum(F, G, H,
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l - 1),
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l),
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l + 1),
+                                                 ref GetElementAsRef(outputFrames, firstOutputIndex + (l - 1) * pCount + j));
+                    }
+                }
+
+                // make first and last curve points coincide with original points:
+                outputFrames[firstOutputIndex] = inputFrames[firstInputIndex];
+                outputFrames[firstOutputIndex + outputFrameCounts[i] - 1] = inputFrames[firstInputIndex + inputFrameCount - 1];
+            }
+
+            var data = pathData[i];
+            data.smoothLength = 0;
+            for (int j = firstOutputIndex + 1; j < firstOutputIndex + outputFrameCounts[i]; ++j)
+                data.smoothLength += math.distance(outputFrames[j - 1].position, outputFrames[j].position);
+
+            pathData[i] = data;
+
+        }
+
+        private static unsafe ref T GetElementAsRef<T>(NativeArray<T> array, int index) where T : unmanaged
+        {
+            return ref UnsafeUtility.ArrayElementAsRef<T>(array.GetUnsafePtr(), index);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta
new file mode 100644
index 00000000..450b2cf7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0b479f3e1bd184363a9259c4d737b611
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs
new file mode 100644
index 00000000..6129c63b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs
@@ -0,0 +1,79 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct DecimateChunksJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> inputFrameOffsets;
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> inputFrames;
+        [NativeDisableParallelForRestriction] public NativeArray<int> outputFrameCounts;
+
+        [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+
+            int firstInputIndex = i > 0 ? inputFrameOffsets[i - 1] : 0;
+            int inputFrameCount = inputFrameOffsets[i] - firstInputIndex;
+
+            // no decimation, no work to do, just return:
+            if (pathData[i].decimation < 0.00001f || inputFrameCount < 3)
+            {
+                outputFrameCounts[i] = inputFrameCount;
+                return;
+            }
+
+            float scaledThreshold = pathData[i].decimation * pathData[i].decimation * 0.01f;
+
+            int start = 0;
+            int end = inputFrameCount - 1;
+            outputFrameCounts[i] = 0;
+
+            while (start < end)
+            {
+                // add starting point:
+                inputFrames[firstInputIndex + outputFrameCounts[i]++] = inputFrames[firstInputIndex + start];
+
+                var newEnd = end;
+
+                while (true)
+                {
+                    int maxDistanceIndex = 0;
+                    float maxDistance = 0;
+
+                    // find the point that's furthest away from the current segment:
+                    for (int k = start + 1; k < newEnd; k++)
+                    {
+                        var nearest = BurstMath.NearestPointOnEdge(inputFrames[firstInputIndex + start].position,
+                                                                   inputFrames[firstInputIndex + newEnd].position,
+                                                                   inputFrames[firstInputIndex + k].position, out _);
+                        float d = math.lengthsq(nearest - inputFrames[firstInputIndex + k].position);
+
+                        if (d > maxDistance)
+                        {
+                            maxDistanceIndex = k;
+                            maxDistance = d;
+                        }
+                    }
+
+                    if (maxDistance <= scaledThreshold)
+                        break;
+
+                    newEnd = maxDistanceIndex;
+                }
+
+                start = newEnd;
+            }
+
+            // add the last point:
+            inputFrames[firstInputIndex + outputFrameCounts[i]++] = inputFrames[firstInputIndex + end];
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta
new file mode 100644
index 00000000..2fdbac83
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6e3177e6c6643442db096e939f5d7109
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs
new file mode 100644
index 00000000..bd8390ad
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs
@@ -0,0 +1,89 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct ParallelTransportJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> pathFrames;
+        [ReadOnly] public NativeArray<int> frameOffsets;
+        [ReadOnly] public NativeArray<int> particleIndices;
+
+        [ReadOnly] public NativeArray<float4> renderablePositions;
+        [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [ReadOnly] public NativeArray<float4> colors;
+        [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+            BurstPathFrame nextFrame = new BurstPathFrame(); 
+            BurstPathFrame currFrame = new BurstPathFrame(); 
+            BurstPathFrame prevFrame = new BurstPathFrame();
+
+            nextFrame.Reset();
+            currFrame.Reset();
+            prevFrame.Reset();
+
+            int firstIndex = i > 0 ? frameOffsets[i - 1] : 0;
+            int frameCount = frameOffsets[i] - firstIndex;
+
+            // initialize current and previous frame:
+            PathFrameFromParticle(ref currFrame, particleIndices[firstIndex], pathData[i].usesOrientedParticles == 1, false);
+            prevFrame = currFrame;
+
+            // parallel transport:
+            for (int m = 1; m <= frameCount; ++m)
+            {
+                int index = firstIndex + math.min(m, frameCount - 1);
+                int pIndex = particleIndices[index];
+
+                // generate curve frame from particle:
+                PathFrameFromParticle(ref nextFrame, pIndex, pathData[i].usesOrientedParticles == 1);
+
+                if (pathData[i].usesOrientedParticles == 1)
+                {
+                    // copy frame directly.
+                    prevFrame = currFrame;
+                }
+                else
+                {
+                    // perform parallel transport, using forward / backward average to calculate tangent.
+                    // if the average is too small, reuse the previous frame tangent.
+                    currFrame.tangent = math.normalizesafe((currFrame.position - prevFrame.position) +
+                                                           (nextFrame.position - currFrame.position), prevFrame.tangent);
+                    prevFrame.Transport(currFrame, pathData[i].twist);
+                }
+
+                // advance current frame:
+                currFrame = nextFrame;
+                pathFrames[firstIndex + m - 1] = prevFrame;
+            }
+
+        }
+
+        private void PathFrameFromParticle(ref BurstPathFrame frame, int particleIndex, bool useOrientedParticles, bool interpolateOrientation = false)
+        {
+            // Update current frame values from particles:
+            frame.position = renderablePositions[particleIndex].xyz;
+            frame.thickness = principalRadii[particleIndex][0];
+            frame.color = colors[particleIndex];
+
+            // Use particle orientation if possible:
+            if (useOrientedParticles)
+            {
+                quaternion current = renderableOrientations[particleIndex];
+                quaternion previous = renderableOrientations[math.max(0, particleIndex - 1)];
+                float4x4 average = (interpolateOrientation ? math.slerp(current, previous, 0.5f) : current).toMatrix();
+                frame.normal = average.c1.xyz;
+                frame.binormal = average.c0.xyz;
+                frame.tangent = average.c2.xyz;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta
new file mode 100644
index 00000000..b07ca0fa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta
@@ -0,0 +1,11 @@
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+guid: 7c4018fb5d53646be9ef6c91f07c7eb6
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta
new file mode 100644
index 00000000..98abee02
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b6251e5c85abf48ee822588eb5da9aa2
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
new file mode 100644
index 00000000..fa1cc8e1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
@@ -0,0 +1,46 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct ApplyInertialForcesJob : IJobParallelFor
+    {
+		[ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<float4> positions;
+		[ReadOnly] public NativeArray<float> invMasses;
+
+		[ReadOnly] public float4 angularVel;
+		[ReadOnly] public float4 inertialAccel;
+		[ReadOnly] public float4 eulerAccel;
+
+		[ReadOnly] public float worldLinearInertiaScale;
+		[ReadOnly] public float worldAngularInertiaScale;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        [ReadOnly] public float deltaTime;
+
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            if (invMasses[i] > 0)
+			{
+				float4 euler = new float4(math.cross(eulerAccel.xyz, positions[i].xyz), 0);
+				float4 centrifugal = new float4(math.cross(angularVel.xyz, math.cross(angularVel.xyz, positions[i].xyz)), 0);
+				float4 coriolis = 2 * new float4(math.cross(angularVel.xyz, velocities[i].xyz), 0);
+				float4 angularAccel = euler + coriolis + centrifugal;
+
+				velocities[i] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
+			}
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta
new file mode 100644
index 00000000..ffb53be3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9583eea8cf2234362a59c97e3f908a85
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
new file mode 100644
index 00000000..10d96a74
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
@@ -0,0 +1,86 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct CalculateSimplexBoundsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<float4> radii;
+        [ReadOnly] public NativeArray<float4> fluidMaterials;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> velocities;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [ReadOnly] public NativeArray<int> particleMaterialIndices;
+        [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+        public NativeArray<BurstAabb> simplexBounds;
+        public NativeArray<BurstAabb> reducedBounds;
+
+        [ReadOnly] public Oni.SolverParameters parameters;
+        [ReadOnly] public float dt;
+
+        public void Execute(int i)
+        {
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
+
+            var sxBounds = new BurstAabb(float.MaxValue, float.MinValue);
+            var soBounds = new BurstAabb(float.MaxValue, float.MinValue);
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int p = simplices[simplexStart + j];
+
+                int m = particleMaterialIndices[p];
+                float solidRadius = radii[p].x + parameters.collisionMargin + (m >= 0 ? collisionMaterials[m].stickDistance : 0);
+
+                // Expand simplex bounds, using both the particle's original position and its velocity.
+                sxBounds.EncapsulateParticle(positions[p],
+                                             BurstIntegration.IntegrateLinear(positions[p], velocities[p], dt * parameters.particleCCD),
+                                             math.max(solidRadius, fluidMaterials[p].x * 0.5f));
+
+                soBounds.EncapsulateParticle(positions[p],
+                                             BurstIntegration.IntegrateLinear(positions[p], velocities[p], dt),
+                                             solidRadius);
+            }
+
+            simplexBounds[i] = sxBounds;
+            reducedBounds[i] = soBounds;
+        }
+    }
+
+    [BurstCompile]
+    struct BoundsReductionJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstAabb> bounds; // the length of bounds must be a multiple of size.
+        [ReadOnly] public int stride;
+        [ReadOnly] public int size;
+
+        public void Execute(int first)
+        {
+            int baseIndex = first * size;
+            for (int i = 1; i < size; ++i)
+            {
+                int dest = baseIndex * stride;
+                int source = (baseIndex + i) * stride;
+
+                if (source < bounds.Length)
+                {
+                    var v = bounds[dest];
+                    v.EncapsulateBounds(bounds[source]);
+                    bounds[dest] = v;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta
new file mode 100644
index 00000000..e630da17
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 31e84cee4b2444511a44d1c8ff0c8cd1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
new file mode 100644
index 00000000..90a3a638
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
@@ -0,0 +1,265 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Jobs;
using Unity.Mathematics;
using Unity.Collections;
+
+namespace Obi
{
    public class BurstSolverImpl : ISolverImpl
    {
        public ObiSolver abstraction { get; }

        public int particleCount
        {
            get { return abstraction.positions.count; }
        }

        public int activeParticleCount
        {
            get { return abstraction.activeParticles.count; }
        }

        public BurstInertialFrame inertialFrame
        {
            get { return m_InertialFrame; }
        }

        public BurstAffineTransform solverToWorld
        {
            get { return m_InertialFrame.frame; }
        }

        public BurstAffineTransform worldToSolver
        {
            get { return m_InertialFrame.frame.Inverse(); }
        }

        public uint activeFoamParticleCount { private set; get; }

        private const int maxBatches = 17;

        private ConstraintBatcher<ContactProvider> collisionConstraintBatcher;
        private ConstraintBatcher<FluidInteractionProvider> fluidConstraintBatcher;

        // Per-type constraints array:
        private IBurstConstraintsImpl[] constraints;

        // Per-type iteration padding array:
        private int[] padding = new int[Oni.ConstraintTypeCount];

        // job handle:
        private BurstJobHandle jobHandle;

        // particle contact generation:
        public ParticleGrid particleGrid;
        public NativeArray<BatchData> particleBatchData;

        // fluid interaction generation:
        public NativeArray<FluidInteraction> fluidInteractions;
        public NativeArray<BatchData> fluidBatchData;

        // collider contact generation:
        private BurstColliderWorld colliderGrid;

        // deformable triangles:
        private NativeArray<int> deformableTriangles;
        private NativeArray<float2> deformableUVs;

        // deformable edges:
        private NativeArray<int> deformableEdges;
+
+        // simplices:
+        public NativeArray<int> simplices;
        public SimplexCounts simplexCounts;

        private BurstInertialFrame m_InertialFrame; // local to world inertial frame.
        private int scheduledJobCounter = 0;
+
+        // cached particle data arrays (just wrappers over raw unmanaged data held by the abstract solver)
+        public NativeArray<int> activeParticles;
        public NativeArray<float4> positions;
        public NativeArray<float4> restPositions;
        public NativeArray<float4> prevPositions;
        public NativeArray<float4> renderablePositions;

        public NativeArray<quaternion> orientations;
        public NativeArray<quaternion> restOrientations;
        public NativeArray<quaternion> prevOrientations;
        public NativeArray<quaternion> renderableOrientations;

        public NativeArray<float4> velocities;
        public NativeArray<float4> angularVelocities;

        public NativeArray<float> invMasses;
        public NativeArray<float> invRotationalMasses;

        public NativeArray<float4> externalForces;
        public NativeArray<float4> externalTorques;
        public NativeArray<float4> wind;

        public NativeArray<float4> positionDeltas;
        public NativeArray<quaternion> orientationDeltas;
        public NativeArray<int> positionConstraintCounts;
        public NativeArray<int> orientationConstraintCounts;

        public NativeArray<float4> colors;
        public NativeArray<int> collisionMaterials;
        public NativeArray<int> phases;
        public NativeArray<int> filters;
        public NativeArray<float4> renderableRadii;
        public NativeArray<float4> principalRadii;
        public NativeArray<float4> normals;
        private NativeArray<float4> tangents;

        public NativeArray<float> life;
        public NativeArray<float4> fluidData;
        public NativeArray<float4> userData;
        public NativeArray<float4> fluidInterface;
        public NativeArray<float4> fluidMaterials;
+        public NativeArray<float4x4> anisotropies;
+
+        // aux foam data:
+        public NativeArray<float4> auxPositions;
+        public NativeArray<float4> auxVelocities;
+        public NativeArray<float4> auxColors;
+        public NativeArray<float4> auxAttributes;
+
        public NativeArray<int4> cellCoords;
        public NativeArray<BurstAabb> simplexBounds;
+        public NativeArray<BurstAabb> reducedBounds;

        public BurstAabb solverBounds;

        private ConstraintSorter<BurstContact> contactSorter;

        public BurstSolverImpl(ObiSolver solver)
        {
            this.abstraction = solver;

            jobHandle = new BurstJobHandle();
            contactSorter = new ConstraintSorter<BurstContact>();

            // Initialize collision world:
            GetOrCreateColliderWorld();
            colliderGrid.IncreaseReferenceCount();
+
+            // Initialize contact generation acceleration structure:
+            particleGrid = new ParticleGrid();

            // Initialize constraint batcher:
            collisionConstraintBatcher = new ConstraintBatcher<ContactProvider>(maxBatches);
            fluidConstraintBatcher = new ConstraintBatcher<FluidInteractionProvider>(maxBatches);

            // Initialize constraint arrays:
            constraints = new IBurstConstraintsImpl[Oni.ConstraintTypeCount];
            constraints[(int)Oni.ConstraintType.Tether] = new BurstTetherConstraints(this);
            constraints[(int)Oni.ConstraintType.Volume] = new BurstVolumeConstraints(this);
            constraints[(int)Oni.ConstraintType.Chain] = new BurstChainConstraints(this);
            constraints[(int)Oni.ConstraintType.Bending] = new BurstBendConstraints(this);
            constraints[(int)Oni.ConstraintType.Distance] = new BurstDistanceConstraints(this);
            constraints[(int)Oni.ConstraintType.ShapeMatching] = new BurstShapeMatchingConstraints(this);
            constraints[(int)Oni.ConstraintType.BendTwist] = new BurstBendTwistConstraints(this);
            constraints[(int)Oni.ConstraintType.StretchShear] = new BurstStretchShearConstraints(this);
            constraints[(int)Oni.ConstraintType.Pin] = new BurstPinConstraints(this);
            constraints[(int)Oni.ConstraintType.ParticleCollision] = new BurstParticleCollisionConstraints(this);
            constraints[(int)Oni.ConstraintType.Density] = new BurstDensityConstraints(this);
            constraints[(int)Oni.ConstraintType.Collision] = new BurstColliderCollisionConstraints(this);
            constraints[(int)Oni.ConstraintType.Skin] = new BurstSkinConstraints(this);
            constraints[(int)Oni.ConstraintType.Aerodynamics] = new BurstAerodynamicConstraints(this);
            constraints[(int)Oni.ConstraintType.Stitch] = new BurstStitchConstraints(this);
            constraints[(int)Oni.ConstraintType.ParticleFriction] = new BurstParticleFrictionConstraints(this);
            constraints[(int)Oni.ConstraintType.Friction] = new BurstColliderFrictionConstraints(this);

            var c = constraints[(int)Oni.ConstraintType.Collision] as BurstColliderCollisionConstraints;
            c.CreateConstraintsBatch();

            var f = constraints[(int)Oni.ConstraintType.Friction] as BurstColliderFrictionConstraints;
            f.CreateConstraintsBatch();
        }

        public void Destroy()
        {
            for (int i = 0; i < constraints.Length; ++i)
                if (constraints[i] != null)
                    constraints[i].Dispose();

            // Get rid of particle and collider grids:
            particleGrid.Dispose();

            if (colliderGrid != null)
                colliderGrid.DecreaseReferenceCount();

            collisionConstraintBatcher.Dispose();
            fluidConstraintBatcher.Dispose();

            if (simplexBounds.IsCreated)
                simplexBounds.Dispose();
            if (reducedBounds.IsCreated)
                reducedBounds.Dispose();

            if (tangents.IsCreated)
                tangents.Dispose();

            if (particleBatchData.IsCreated)
                particleBatchData.Dispose();
            if (fluidInteractions.IsCreated)
                fluidInteractions.Dispose();
            if (fluidBatchData.IsCreated)
                fluidBatchData.Dispose();

            if (auxPositions.IsCreated)
                auxPositions.Dispose();
            if (auxVelocities.IsCreated)
                auxVelocities.Dispose();
            if (auxColors.IsCreated)
                auxColors.Dispose();
            if (auxAttributes.IsCreated)
                auxAttributes.Dispose();
        }

        // Utility function to count scheduled jobs. Call it once per job.
        // Will JobHandle.ScheduleBatchedJobs once there's a good bunch of scheduled jobs.
        public void ScheduleBatchedJobsIfNeeded()
        {
            if (scheduledJobCounter++ > 16)
            {
                scheduledJobCounter = 0;
                JobHandle.ScheduleBatchedJobs();
            }
        }
  
        private void GetOrCreateColliderWorld()
        {
            colliderGrid = GameObject.FindObjectOfType<BurstColliderWorld>();
            if (colliderGrid == null)
            {
                var world = new GameObject("BurstCollisionWorld", typeof(BurstColliderWorld));
                colliderGrid = world.GetComponent<BurstColliderWorld>();
            }
        }

        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
        {
            m_InertialFrame = new BurstInertialFrame(translation, scale, rotation);
        } 

        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
        {
            m_InertialFrame.Update(translation, scale, rotation, deltaTime);
        }

        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
        {
            // inverse linear part:
            float4x4 linear = float4x4.TRS(float3.zero, inertialFrame.frame.rotation, math.rcp(inertialFrame.frame.scale.xyz));
            float4x4 linearInv = math.transpose(linear);

            // non-inertial frame accelerations:
            float4 angularVel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularVelocity.xyz), linear)).diagonal();
            float4 eulerAccel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularAcceleration.xyz), linear)).diagonal();
            float4 inertialAccel = math.mul(linearInv, inertialFrame.acceleration);

            var applyInertialForces = new ApplyInertialForcesJob()
            {
                activeParticles = activeParticles,
                positions = positions,
                velocities = velocities,
                invMasses = invMasses,
                angularVel = angularVel,
                inertialAccel = inertialAccel,
                eulerAccel = eulerAccel,
                worldLinearInertiaScale = worldLinearInertiaScale,
                worldAngularInertiaScale = worldAngularInertiaScale,
                deltaTime = deltaTime,
            };

            jobHandle.jobHandle = applyInertialForces.Schedule(activeParticleCount, 64);

            return jobHandle;
        }

        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
        {
            deformableTriangles = indices.AsNativeArray<int>();
            deformableUVs = uvs.AsNativeArray<float2>();
        }

        public void SetDeformableEdges(ObiNativeIntList indices)
        {
            deformableEdges = indices.AsNativeArray<int>();
        }

        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
        {
            this.simplices = simplices.AsNativeArray<int>();
            this.simplexCounts = counts;
+
+            cellCoords = abstraction.cellCoords.AsNativeArray<int4>();

            if (simplexBounds.IsCreated)
                simplexBounds.Dispose();

            simplexBounds = new NativeArray<BurstAabb>(counts.simplexCount, Allocator.Persistent);
+
+            if (reducedBounds.IsCreated)
                reducedBounds.Dispose();
+
+            reducedBounds = new NativeArray<BurstAabb>(counts.simplexCount, Allocator.Persistent);
        }

        public void SetActiveParticles(ObiNativeIntList activeIndices)
        {
            activeParticles = activeIndices.AsNativeArray<int>();
        }

        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
        {
+            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;
+
+            // calculate bounding boxes for all simplices:
+            var boundsJob = new CalculateSimplexBoundsJob()
+            {
+                radii = principalRadii,
+                fluidMaterials = fluidMaterials,
+                positions = positions,
+                velocities = velocities,
+                simplices = simplices,
+                simplexCounts = simplexCounts,
+                particleMaterialIndices = collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                parameters = abstraction.parameters,
+                simplexBounds = simplexBounds,
+                reducedBounds = reducedBounds,
+                dt = stepTime
+            };
+
+            burstHandle.jobHandle = boundsJob.Schedule(simplexCounts.simplexCount, 64, burstHandle.jobHandle);
+
+            // parallel reduction:
+            int chunkSize = 4;
            int chunks = simplexCounts.simplexCount;
            int stride = 1;
            while (chunks > 1)
            {
                var reductionJob = new BoundsReductionJob()
                {
                    bounds = reducedBounds,
                    stride = stride,
                    size = chunkSize,
                };
                burstHandle.jobHandle = reductionJob.Schedule(chunks, 1, burstHandle.jobHandle);

                chunks = (int)math.ceil(chunks / (float)chunkSize);
                stride *= chunkSize;
            }

            return burstHandle;
        }

        public void GetBounds(ref Vector3 min, ref Vector3 max)
+        {
+            // update solver bounds struct:
+            if (reducedBounds.IsCreated && reducedBounds.Length > 0)
+            {
+                solverBounds.min = reducedBounds[0].min;
+                solverBounds.max = reducedBounds[0].max;
+            }
+
+            min = solverBounds.min.xyz;
+            max = solverBounds.max.xyz;
+        }

        public int GetConstraintCount(Oni.ConstraintType type)
        {
            if ((int)type > 0 && (int)type < constraints.Length)
                return constraints[(int)type].GetConstraintCount();
            return 0;
        }

        public void SetParameters(Oni.SolverParameters parameters)
        {
+
        }

        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
        {
            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
        }

        public void ParticleCountChanged(ObiSolver solver)
        {
            positions = abstraction.positions.AsNativeArray<float4>();
            restPositions = abstraction.restPositions.AsNativeArray<float4>();
            prevPositions = abstraction.prevPositions.AsNativeArray<float4>();
            renderablePositions = abstraction.renderablePositions.AsNativeArray<float4>();

            orientations = abstraction.orientations.AsNativeArray<quaternion>();
            restOrientations = abstraction.restOrientations.AsNativeArray<quaternion>();
            prevOrientations = abstraction.prevOrientations.AsNativeArray<quaternion>();
            renderableOrientations = abstraction.renderableOrientations.AsNativeArray<quaternion>();

            colors = abstraction.colors.AsNativeArray<float4>();
            velocities = abstraction.velocities.AsNativeArray<float4>();
            angularVelocities = abstraction.angularVelocities.AsNativeArray<float4>();

            invMasses = abstraction.invMasses.AsNativeArray<float>();
            invRotationalMasses = abstraction.invRotationalMasses.AsNativeArray<float>();

            externalForces = abstraction.externalForces.AsNativeArray<float4>();
            externalTorques = abstraction.externalTorques.AsNativeArray<float4>();
            wind = abstraction.wind.AsNativeArray<float4>();

            positionDeltas = abstraction.positionDeltas.AsNativeArray<float4>();
            orientationDeltas = abstraction.orientationDeltas.AsNativeArray<quaternion>();
            positionConstraintCounts = abstraction.positionConstraintCounts.AsNativeArray<int>();
            orientationConstraintCounts = abstraction.orientationConstraintCounts.AsNativeArray<int>();

            collisionMaterials = abstraction.collisionMaterials.AsNativeArray<int>();
            phases = abstraction.phases.AsNativeArray<int>();
            filters = abstraction.filters.AsNativeArray<int>();
            renderableRadii = abstraction.renderableRadii.AsNativeArray<float4>();
            principalRadii = abstraction.principalRadii.AsNativeArray<float4>();
            normals = abstraction.normals.AsNativeArray<float4>();

            life = abstraction.life.AsNativeArray<float>();
            fluidData = abstraction.fluidData.AsNativeArray<float4>();
            userData = abstraction.userData.AsNativeArray<float4>();
            fluidInterface = abstraction.fluidInterface.AsNativeArray<float4>();
            fluidMaterials = abstraction.fluidMaterials.AsNativeArray<float4>();
            anisotropies = abstraction.anisotropies.AsNativeArray<float4x4>();

            cellCoords = abstraction.cellCoords.AsNativeArray<int4>();

            if (tangents.IsCreated)
                tangents.Dispose();
            tangents = new NativeArray<float4>(normals.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
        }

        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+            if (auxPositions.IsCreated)
+                auxPositions.Dispose();
+            if (auxVelocities.IsCreated)
+                auxVelocities.Dispose();
+            if (auxColors.IsCreated)
+                auxColors.Dispose();
+            if (auxAttributes.IsCreated)
+                auxAttributes.Dispose();
+
+            auxPositions = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxVelocities = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxColors = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxAttributes = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+        }

        public void SetRigidbodyArrays(ObiSolver solver)
        {
            // No need to implement. This backend grabs arrays from the abstraction when it needs them.
        }

        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type)
        {
            return constraints[(int)type].CreateConstraintsBatch();
        }

        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
        {
            if (batch != null)
                constraints[(int)batch.constraintType].RemoveBatch(batch);
        }

        public void FinishSimulation()
        {
+            // Wipe all forces to zero. However we can't wipe wind here, since we
+            // need wind values during interpolation to calculate rope normals.
+            abstraction.externalForces.WipeToZero();
+            abstraction.externalTorques.WipeToZero();
+
+            abstraction.externalForces.Upload();
+            abstraction.externalTorques.Upload();
+
+            // store current end positions as the start positions for the next step.
+            abstraction.startPositions.CopyFrom(abstraction.endPositions);
+            abstraction.startOrientations.CopyFrom(abstraction.endOrientations);
+            abstraction.endPositions.CopyFrom(abstraction.positions);
            abstraction.endOrientations.CopyFrom(abstraction.orientations);
        }
+
+        public void PushData()
+        {
+            // Initialize wind values with solver's ambient wind.
+            abstraction.wind.WipeToValue(abstraction.parameters.ambientWind);
+            abstraction.wind.Upload();
+        }
+
+        public void RequestReadback()
+        {
+        }

        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
        {
            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;
+
+            burstHandle.jobHandle = FindFluidParticles(burstHandle.jobHandle);

            burstHandle.jobHandle = GenerateContacts(burstHandle.jobHandle, stepTime);

            return burstHandle; 
        }

        protected JobHandle FindFluidParticles(JobHandle inputDeps)
        {
            var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;

            // Update positions:
            var findFluidJob = new FindFluidParticlesJob()
            {
                activeParticles = activeParticles,
                phases = phases,
                fluidParticles = d.fluidParticles,
            };

            return findFluidJob.Schedule(inputDeps);
        }

        protected JobHandle GenerateContacts(JobHandle inputDeps, float deltaTime)
        {
            // Dispose of previous fluid interactions.
            // We need fluid data during interpolation, for anisotropic fluid particles. For this reason,
            // we can't dispose of these arrays in ResetForces() at the end of each full step. They must use persistent allocation.

            if (fluidInteractions.IsCreated)
                fluidInteractions.Dispose();
            if (fluidBatchData.IsCreated)
                fluidBatchData.Dispose();
+            if (particleBatchData.IsCreated)
                particleBatchData.Dispose();
+
+            // get constraint parameters for constraint types that depend on broadphases:
+            var collisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            var particleCollisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);

            // if no enabled constraints that require broadphase info, skip it entirely.
            if (collisionParameters.enabled ||
                particleCollisionParameters.enabled ||
                densityParameters.enabled)
            {
+                // generate particle-particle and particle-collider interactions in parallel:
+                JobHandle generateParticleInteractionsHandle = inputDeps, generateContactsHandle = inputDeps;

                // particle-particle interactions (contacts, fluids)
                if (particleCollisionParameters.enabled || densityParameters.enabled)
                {
                    particleGrid.Update(this, inputDeps);
                    generateParticleInteractionsHandle = particleGrid.GenerateContacts(this, deltaTime);
                }

                // particle-collider interactions (contacts)
                if (collisionParameters.enabled)
                {
                    generateContactsHandle = colliderGrid.GenerateContacts(this, deltaTime, inputDeps);
                }

                JobHandle.CombineDependencies(generateParticleInteractionsHandle, generateContactsHandle).Complete();
+
+                // allocate arrays for interactions and batch data:
                particleBatchData = new NativeArray<BatchData>(maxBatches, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);

                fluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
                fluidBatchData = new NativeArray<BatchData>(maxBatches, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
+
+                // allocate effective mass arrays:
+                abstraction.contactEffectiveMasses.ResizeUninitialized(colliderGrid.colliderContactQueue.Count);
+                abstraction.particleContactEffectiveMasses.ResizeUninitialized(particleGrid.particleContactQueue.Count);
+
+                // dequeue contacts/interactions into temporary arrays:
+                var rawParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
                var sortedParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
                var rawFluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
+
+                abstraction.particleContacts.ResizeUninitialized(particleGrid.particleContactQueue.Count);
                DequeueIntoArrayJob<BurstContact> dequeueParticleContacts = new DequeueIntoArrayJob<BurstContact>
                {
                    InputQueue = particleGrid.particleContactQueue,
                    OutputArray = rawParticleContacts
                };
+
+                abstraction.colliderContacts.ResizeUninitialized(colliderGrid.colliderContactQueue.Count);
                DequeueIntoArrayJob<BurstContact> dequeueColliderContacts = new DequeueIntoArrayJob<BurstContact>
                {
                    InputQueue = colliderGrid.colliderContactQueue,
                    OutputArray = abstraction.colliderContacts.AsNativeArray<BurstContact>()
                };

                DequeueIntoArrayJob<FluidInteraction> dequeueFluidInteractions = new DequeueIntoArrayJob<FluidInteraction>
                {
                    InputQueue = particleGrid.fluidInteractionQueue,
                    OutputArray = rawFluidInteractions
                };

                var dequeueHandle = JobHandle.CombineDependencies(dequeueParticleContacts.Schedule(), dequeueFluidInteractions.Schedule(), dequeueColliderContacts.Schedule());

                // Sort contacts for jitter-free gauss-seidel (sequential) solving:
                dequeueHandle = contactSorter.SortConstraints(simplexCounts.simplexCount, rawParticleContacts, ref sortedParticleContacts, dequeueHandle); 

                ContactProvider contactProvider = new ContactProvider()
                {
                    contacts = sortedParticleContacts,
                    sortedContacts = abstraction.particleContacts.AsNativeArray<BurstContact>(),
                    simplices = simplices,
                    simplexCounts = simplexCounts
                };

                FluidInteractionProvider fluidProvider = new FluidInteractionProvider()
                {
                    interactions = rawFluidInteractions,
                    sortedInteractions = fluidInteractions,
                };

                // batch particle contacts:
                var activeParticleBatchCount = new NativeArray<int>(1, Allocator.TempJob);
                var particleBatchHandle = collisionConstraintBatcher.BatchConstraints(ref contactProvider, particleCount, ref particleBatchData, ref activeParticleBatchCount, dequeueHandle);

                // batch fluid interactions:
                var activeFluidBatchCount = new NativeArray<int>(1, Allocator.TempJob);
                var fluidBatchHandle = fluidConstraintBatcher.BatchConstraints(ref fluidProvider, particleCount, ref fluidBatchData, ref activeFluidBatchCount, dequeueHandle);

                JobHandle.CombineDependencies(particleBatchHandle, fluidBatchHandle).Complete();

                // Generate particle contact/friction batches:
                var pc = constraints[(int)Oni.ConstraintType.ParticleCollision] as BurstParticleCollisionConstraints;
                var pf = constraints[(int)Oni.ConstraintType.ParticleFriction] as BurstParticleFrictionConstraints;

                for (int i = 0; i < pc.batches.Count; ++i)
                    pc.batches[i].enabled = false;

                for (int i = 0; i < pf.batches.Count; ++i)
                    pf.batches[i].enabled = false;

                for (int i = 0; i < activeParticleBatchCount[0]; ++i)
                {
                    // create extra batches if not enough:
                    if (i == pc.batches.Count)
                    {
                        pc.CreateConstraintsBatch();
                        pf.CreateConstraintsBatch();
                    }

                    pc.batches[i].enabled = true;
                    pf.batches[i].enabled = true;

                    (pc.batches[i] as BurstParticleCollisionConstraintsBatch).batchData = particleBatchData[i];
                    (pf.batches[i] as BurstParticleFrictionConstraintsBatch ).batchData = particleBatchData[i];
                }

                // Generate fluid interaction batches:
                var dc = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;

                for (int i = 0; i < dc.batches.Count; ++i)
                    dc.batches[i].enabled = false;

                for (int i = 0; i < activeFluidBatchCount[0]; ++i)
                {
                    // create extra batches if not enough:
                    if (i == dc.batches.Count)
                        dc.CreateConstraintsBatch();

                    dc.batches[i].enabled = true;

                    (dc.batches[i] as BurstDensityConstraintsBatch).batchData = fluidBatchData[i];
                }

                // dispose of temporary buffers:
                rawParticleContacts.Dispose();
                rawFluidInteractions.Dispose();
                sortedParticleContacts.Dispose();
                activeParticleBatchCount.Dispose();
                activeFluidBatchCount.Dispose();

                inputDeps = colliderGrid.ApplyForceZones(this, deltaTime, inputDeps);
            }

            return inputDeps;
        }

        public IObiJobHandle Substep(IObiJobHandle handle, float stepTime, float substepTime, int steps, float timeLeft)
        {
            BurstJobHandle burstHandle = handle as BurstJobHandle;
            if (burstHandle == null)
                return handle;
+
+            // Apply aerodynamics
+            burstHandle.jobHandle = constraints[(int)Oni.ConstraintType.Aerodynamics].Project(burstHandle.jobHandle, stepTime, substepTime, steps, timeLeft);
+
+            // Predict positions:
+            var predictPositions = new PredictPositionsJob()
            {
                activeParticles = activeParticles,
                phases = phases,
                buoyancies = fluidInterface,

                externalForces = externalForces,
                inverseMasses = invMasses,
                positions = positions,
                previousPositions = prevPositions,
                velocities = velocities,

                externalTorques = externalTorques,
                inverseRotationalMasses = invRotationalMasses,
                orientations = orientations,
                previousOrientations = prevOrientations,
                angularVelocities = angularVelocities,

                gravity = new float4(abstraction.parameters.gravity, 0),
                deltaTime = substepTime,
                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
            };

            burstHandle.jobHandle = predictPositions.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);
+
+            // Project position constraints:
+            burstHandle.jobHandle = ApplyConstraints(burstHandle.jobHandle, stepTime, substepTime, steps, timeLeft);

            // Update velocities:
            var updateVelocitiesJob = new UpdateVelocitiesJob
            {
                activeParticles = activeParticles,

                inverseMasses = invMasses,
                previousPositions = prevPositions,
                positions = positions,
                velocities = velocities,

                inverseRotationalMasses = invRotationalMasses,
                previousOrientations = prevOrientations,
                orientations = orientations,
                angularVelocities = angularVelocities,

                deltaTime = substepTime,
                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
            };

            burstHandle.jobHandle = updateVelocitiesJob.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);
+
+            // velocity constraints:
+            burstHandle.jobHandle = ApplyVelocityCorrections(burstHandle.jobHandle, substepTime);

            // Update positions:
            var updatePositionsJob = new UpdatePositionsJob
            {
                activeParticles = activeParticles,
                positions = positions,
                previousPositions = prevPositions,
                velocities = velocities,
                orientations = orientations,
                previousOrientations = prevOrientations,
                angularVelocities = angularVelocities,
                velocityScale = math.pow(1 - math.saturate(abstraction.parameters.damping), substepTime),
                sleepThreshold = abstraction.parameters.sleepThreshold,
                maxVelocity = abstraction.parameters.maxVelocity,
                maxAngularVelocity = abstraction.parameters.maxAngularVelocity
            };

            burstHandle.jobHandle = updatePositionsJob.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);
+
+            // Update diffuse particles:
+            int substepsLeft = (int)math.round(timeLeft / substepTime); 
+            int foamPadding = (int)math.ceil(abstraction.substeps / (float)abstraction.foamSubsteps);
+
+            if (substepsLeft % foamPadding == 0)
+                burstHandle.jobHandle = UpdateDiffuseParticles(burstHandle.jobHandle, substepTime * foamPadding);

            return burstHandle;
        }

        private JobHandle ApplyVelocityCorrections(JobHandle inputDeps, float deltaTime)
        {
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);

            if (densityParameters.enabled)
            {
                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
                if (d != null)
                {
                    return d.ApplyVelocityCorrections(inputDeps, deltaTime);
                }
            }
            return inputDeps;
        }

        private JobHandle ApplyConstraints(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
        {

            // calculate max amount of iterations required, and initialize constraints..
            int maxIterations = 0;
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled)
                {
                    maxIterations = math.max(maxIterations, parameters.iterations);
                    inputDeps = constraints[i].Initialize(inputDeps, substepTime);
                }
            }

            // calculate iteration paddings:
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled && parameters.iterations > 0)
                    padding[i] = (int)math.ceil(maxIterations / (float)parameters.iterations);
                else
                    padding[i] = maxIterations;
            }

            // perform projection iterations:
            for (int i = 1; i < maxIterations; ++i)
            {
                for (int j = 0; j < Oni.ConstraintTypeCount; ++j)
                {
                    if (j != (int)Oni.ConstraintType.Aerodynamics)
                    {
                        var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)j);
                        if (parameters.enabled && i % padding[j] == 0)
                            inputDeps = constraints[j].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
                    }
                }
            }

            // final iteration, all groups together:
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                if (i != (int)Oni.ConstraintType.Aerodynamics)
                {
                    var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                    if (parameters.enabled && parameters.iterations > 0)
                        inputDeps = constraints[i].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
                }
            }

            // Despite friction constraints being applied after collision (since coulomb friction depends on normal impulse)
            // we perform a collision iteration right at the end to ensure the final state meets the Signorini-Fichera conditions.
            var param = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            if (param.enabled && param.iterations > 0)
                inputDeps = constraints[(int)Oni.ConstraintType.ParticleCollision].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
            param = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            if (param.enabled && param.iterations > 0)
                inputDeps = constraints[(int)Oni.ConstraintType.Collision].Project(inputDeps, stepTime, substepTime, steps, timeLeft);

            return inputDeps;
        }

        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
        {
            if (inputDeps == null)
                inputDeps = new BurstJobHandle();

            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;

            // Interpolate particle positions and orientations.
            var interpolate = new InterpolationJob
            {
                positions = positions,
                endPositions = abstraction.endPositions.AsNativeArray<float4>(),
                startPositions = startPositions.AsNativeArray<float4>(),
                renderablePositions = renderablePositions,

                orientations = orientations,
                endOrientations = abstraction.endOrientations.AsNativeArray<quaternion>(),
                startOrientations = startOrientations.AsNativeArray<quaternion>(),
                renderableOrientations = renderableOrientations,

                principalRadii = principalRadii,
                renderableRadii = renderableRadii,
+
+                blendFactor = stepTime > 0 ? unsimulatedTime / stepTime : 0,
                interpolationMode = abstraction.parameters.interpolation
            };

            burstHandle.jobHandle = interpolate.Schedule(abstraction.positions.count, 128, burstHandle.jobHandle);

            // Update deformable triangle normals
            var resetNormals = new ResetNormals()
            {
                phases = phases,
                normals = normals,
                tangents = tangents
            };

            burstHandle.jobHandle = resetNormals.Schedule(normals.Length, 128, burstHandle.jobHandle);

            // Update deformable triangle normals
            var updateTriNormals = new UpdateTriangleNormalsJob()
            {
                renderPositions = renderablePositions,
                deformableTriangles = deformableTriangles,
                deformableTriangleUVs = deformableUVs,
                normals = normals,
                tangents = tangents
            };

            burstHandle.jobHandle = updateTriNormals.Schedule(deformableTriangles.Length / 3, 1, burstHandle.jobHandle);
+
+            // Update deformable edge normals
+            var updateEdgeNormals = new UpdateEdgeNormalsJob()
            {
                renderPositions = renderablePositions,
                deformableEdges = deformableEdges,
                wind = wind,
                normals = normals,
            };

            burstHandle.jobHandle = updateEdgeNormals.Schedule(deformableEdges.Length / 2, 1, burstHandle.jobHandle);
+
+            // Update deformable triangle orientations
+            var updateOrientations = new RenderableOrientationFromNormals()
            {
                phases = phases,
                normals = normals,
                tangents = tangents,
                renderableOrientations = renderableOrientations
            };

            burstHandle.jobHandle = updateOrientations.Schedule(normals.Length, 128, burstHandle.jobHandle);
+
+            //make sure density constraints are enabled, otherwise particles have no neighbors and neighbor lists will be uninitialized.
+            var param = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);
            if (param.enabled && param.iterations > 0)
+            {
+                // Fluid laplacian/anisotropy (only if we're in play mode, in-editor we have no particlegrid/sorted data).
+                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
+                if (Application.isPlaying && d != null)
+                    burstHandle.jobHandle = d.CalculateAnisotropyLaplacianSmoothing(burstHandle.jobHandle);
            }

            return burstHandle;
        }

        private unsafe JobHandle UpdateDiffuseParticles(JobHandle inputDeps, float deltaTime)
+        {
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as BurstFoamRenderSystem;
+            if (system != null)
+            {
+                int* dispatchPtr = (int*)abstraction.foamCount.AddressOfElement(0);
+
+                for (int i = 0; i < system.renderers.Count; ++i)
+                {
+                    var emitJob = new EmitParticlesJob
+                    {
+                        // when the actor gets removed from solver, solverIndices is destroyed and
+                        // this job may still be running. As a solution, create a temporary copy of the array.
+                        activeParticles = new NativeArray<int>(system.renderers[i].actor.solverIndices.AsNativeArray<int>(), Allocator.TempJob), 
+                        positions = prevPositions,
+                        velocities = velocities,
+                        angularVelocities = angularVelocities,
+                        principalRadii = principalRadii,
+
+                        outputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                        outputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                        outputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                        outputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                        dispatchBuffer = abstraction.foamCount.AsNativeArray<int>(),
+
+                        vorticityRange = system.renderers[i].vorticityRange,
+                        velocityRange = system.renderers[i].velocityRange,
+                        foamGenerationRate = system.renderers[i].foamGenerationRate,
+                        potentialIncrease = system.renderers[i].foamPotential,
+                        potentialDiffusion = math.pow(1 - math.saturate(system.renderers[i].foamPotentialDiffusion), deltaTime),
+                        buoyancy = system.renderers[i].buoyancy,
+                        drag = system.renderers[i].drag,
+                        airdrag = math.pow(1 - math.saturate(system.renderers[i].atmosphericDrag), deltaTime),
+                        isosurface = system.renderers[i].isosurface,
+                        airAging = system.renderers[i].airAging,
+                        particleSize = system.renderers[i].size,
+                        sizeRandom = system.renderers[i].sizeRandom,
+                        lifetime = system.renderers[i].lifetime,
+                        lifetimeRandom = system.renderers[i].lifetimeRandom,
+                        foamColor = (Vector4)system.renderers[i].color,
+
+                        deltaTime = deltaTime
+                    };
+
+                    inputDeps = emitJob.Schedule(system.renderers[i].actor.activeParticleCount, 128, inputDeps);
+                }
+
+                var updateJob = new UpdateParticlesJob
+                {
+                    positions = prevPositions,
+                    orientations = renderableOrientations,
+                    principalRadii = renderableRadii,
+                    velocities = velocities,
+                    fluidData = fluidData,
+                    fluidMaterial = fluidMaterials,
+
+                    simplices = simplices,
+                    simplexCounts = simplexCounts,
+
+                    grid = particleGrid.grid,
+                    gridLevels = particleGrid.grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                    densityKernel = new Poly6Kernel(abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+
+                    inputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                    inputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                    inputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                    inputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    outputPositions = auxPositions,
+                    outputVelocities = auxVelocities,
+                    outputColors = auxColors,
+                    outputAttributes = auxAttributes,
+
+                    dispatchBuffer = abstraction.foamCount.AsNativeArray<int>(),
+
+                    parameters = abstraction.parameters,
+
+                    agingOverPopulation = new Vector3(abstraction.foamAccelAgingRange.x, abstraction.foamAccelAgingRange.y, abstraction.foamAccelAging),
+                    currentAliveParticles = dispatchPtr[3],
+                    deltaTime = deltaTime
+                };
+
+                inputDeps = IJobParallelForDeferExtensions.Schedule(updateJob, &dispatchPtr[3], 64, inputDeps);
+
+                var copyJob = new CopyJob
+                {
+                    inputPositions = auxPositions,
+                    inputVelocities = auxVelocities,
+                    inputColors = auxColors,
+                    inputAttributes = auxAttributes,
+
+                    outputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                    outputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                    outputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                    outputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    dispatchBuffer = abstraction.foamCount.AsNativeArray<int>()
+                };
+
+                inputDeps = IJobParallelForDeferExtensions.Schedule(copyJob, &dispatchPtr[7], 256, inputDeps);
+
+                activeFoamParticleCount = (uint)dispatchPtr[3];
+            }
+            return inputDeps;
+        }

        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
        {
            var resultsQueue = new NativeQueue<BurstQueryResult>(Allocator.Persistent);

            particleGrid.SpatialQuery(this,
                                      shapes.AsNativeArray<BurstQueryShape>(),
                                      transforms.AsNativeArray<BurstAffineTransform>(),
                                      resultsQueue).Complete();

            int count = resultsQueue.Count;
            results.ResizeUninitialized(count);

            var dequeueQueryResults = new DequeueIntoArrayJob<BurstQueryResult>()
            {
                InputQueue = resultsQueue,
                OutputArray = results.AsNativeArray<BurstQueryResult>()
            };

            dequeueQueryResults.Schedule().Complete();

            resultsQueue.Dispose();
        }

        public int GetParticleGridSize()
        {
            return particleGrid.grid.usedCells.Length;
        }
        public void GetParticleGrid(ObiNativeAabbList cells)
        {
            particleGrid.GetCells(cells);
        }
    }
}


+#endif
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs.meta
new file mode 100644
index 00000000..597b2b50
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d37e8b7fe851346debbbd28e17c1e593
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs
new file mode 100644
index 00000000..43a5066e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Jobs;
+using Unity.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    public struct DequeueIntoArrayJob<T> : IJob where T : unmanaged
+    {
+        public int StartIndex;
+        public NativeQueue<T> InputQueue;
+        [WriteOnly] public NativeArray<T> OutputArray;
+
+        public void Execute()
+        {
+            int queueCount = InputQueue.Count;
+
+            for (int i = StartIndex; i < StartIndex + queueCount; i++)
+            {
+                OutputArray[i] = InputQueue.Dequeue();
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta
new file mode 100644
index 00000000..a62baf18
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs
new file mode 100644
index 00000000..f7bb2dac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs
@@ -0,0 +1,33 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct FindFluidParticlesJob : IJob
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<int> phases;
+
+        public NativeList<int> fluidParticles;
+
+        public void Execute()
+        {
+            fluidParticles.Clear();
+
+            for (int i = 0; i < activeParticles.Length; ++i)
+            {
+                int p = activeParticles[i];
+                if ((phases[p] & (int)ObiUtils.ParticleFlags.Fluid) != 0)
+                    fluidParticles.Add(p);
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta
new file mode 100644
index 00000000..b146b734
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs
new file mode 100644
index 00000000..cd6ce790
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs
@@ -0,0 +1,325 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Threading;
+
+namespace Obi
+{
+    [BurstCompile]
+    unsafe struct EmitParticlesJob : IJobParallelFor
+    {
+        [ReadOnly] [DeallocateOnJobCompletion] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        public float2 vorticityRange;
+        public float2 velocityRange;
+        public float potentialIncrease;
+        public float potentialDiffusion;
+        public float foamGenerationRate;
+
+        public float lifetime;
+        public float lifetimeRandom;
+        public float particleSize;
+        public float sizeRandom;
+        public float buoyancy;
+        public float drag;
+        public float airdrag;
+        public float airAging;
+        public float isosurface;
+        public float4 foamColor;
+
+        public float deltaTime;
+
+        //https://www.shadertoy.com/view/4djSRW
+        float3 hash33(float3 p3)
+        {
+            p3 = math.frac(p3 * new float3(.1031f, .1030f, .0973f));
+            p3 += math.dot(p3, p3.yxz + 33.33f);
+            return math.frac((p3.xxy + p3.yxx) * p3.zyx);
+        }
+
+        float hash13(float3 p3)
+        {
+            p3 = math.frac(p3 * .1031f);
+            p3 += math.dot(p3, p3.zyx + 31.32f);
+            return math.frac((p3.x + p3.y) * p3.z);
+        }
+
+
+        void RandomInCylinder(float seed, float4 pos1, float4 pos2, float radius, out float4 position, out float3 velocity)
+        {
+            float3 rand = hash33(math.lerp(pos1.xyz, pos2.xyz, seed));
+
+            float3 v = pos2.xyz - pos1.xyz;
+            float d = math.length(v);
+            float3 b1 = d > BurstMath.epsilon ? v / d : v;
+            float3 b2 = math.normalizesafe(math.cross(b1, new float3(1, 0, 0)));
+            float3 b3 = math.cross(b2, b1);
+
+            float theta = rand.y * 2 * math.PI;
+            float2 disc = radius * math.sqrt(rand.x) * new float2(math.cos(theta), math.sin(theta));
+
+            velocity = b2 * disc.x + b3 * disc.y;
+            position = new float4(pos1.xyz + b1 * d * rand.z + velocity, 0);
+        }
+
+        public void Execute(int i)
+        {
+            int* dispatch = (int*)dispatchBuffer.GetUnsafePtr();
+
+            int p = activeParticles[i];
+
+            float4 angVel = angularVelocities[p];
+            float2 potential = BurstMath.UnpackFloatRG(angVel.w);
+
+            // calculate foam potential increase:
+            float vorticityPotential = BurstMath.Remap01(math.length(angVel.xyz), vorticityRange.x, vorticityRange.y);
+            float velocityPotential = BurstMath.Remap01(math.length(velocities[p].xyz), velocityRange.x, velocityRange.y);
+            float potentialDelta = velocityPotential * vorticityPotential * deltaTime * potentialIncrease;
+
+            // update foam potential:
+            potential.y = math.saturate(potential.y * potentialDiffusion + potentialDelta);
+
+            // calculate amount of emitted particles
+            potential.x += foamGenerationRate * potential.y * deltaTime;
+            int emitCount = (int)potential.x;
+            potential.x -= emitCount; 
+
+            for (int j = 0; j < emitCount; ++j)
+            {
+                // atomically increment alive particle counter:
+                int count = Interlocked.Add(ref dispatch[3], 1) - 1;
+
+                if (count < outputPositions.Length) 
+                {
+                    // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+                    float3 radialVelocity;
+                    float4 pos;
+                    RandomInCylinder(j, positions[p], positions[p] + velocities[p] * deltaTime, principalRadii[p].x, out pos, out radialVelocity);
+
+                    // calculate initial life/size/color:
+                    float initialLife = velocityPotential * (lifetime - hash13(positions[p].xyz) * lifetime * lifetimeRandom);
+                    float initialSize = particleSize - hash13(positions[p].xyz + new float3(0.51f, 0.23f, 0.1f)) * particleSize * sizeRandom;
+
+                    outputPositions[count] = pos;
+                    outputVelocities[count] = velocities[p] + new float4(radialVelocity, buoyancy);
+                    outputColors[count] = foamColor;
+                    outputAttributes[count] = new float4(1, 1/initialLife, initialSize, BurstMath.PackFloatRGBA(new float4(airAging/50.0f, airdrag, drag, isosurface))); 
+                }
+            }
+
+            angVel.w = BurstMath.PackFloatRG(potential);
+            angularVelocities[p] = angVel;
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct UpdateParticlesJob : IJobParallelForDefer
+    {
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [ReadOnly] public NativeArray<float4> fluidData;
+        [ReadOnly] public NativeArray<float4> fluidMaterial;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [ReadOnly] public NativeMultilevelGrid<int> grid;
+        [DeallocateOnJobCompletion]
+        [ReadOnly] public NativeArray<int> gridLevels;
+
+        [ReadOnly] public Poly6Kernel densityKernel;
+
+        [ReadOnly] public NativeArray<float4> inputPositions;
+        [ReadOnly] public NativeArray<float4> inputVelocities;
+        [ReadOnly] public NativeArray<float4> inputColors;
+        [ReadOnly] public NativeArray<float4> inputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public float3 agingOverPopulation;
+        public float deltaTime;
+        public int currentAliveParticles;
+
+        static readonly int4[] offsets =
+        {
+                new int4(0, 0, 0, 1),
+                new int4(1, 0, 0, 1),
+                new int4(0, 1, 0, 1),
+                new int4(1, 1, 0, 1),
+                new int4(0, 0, 1, 1),
+                new int4(1, 0, 1, 1),
+                new int4(0, 1, 1, 1),
+                new int4(1, 1, 1, 1)
+            };
+
+        public void Execute(int i)
+        {
+            int* dispatch = (int*)dispatchBuffer.GetUnsafePtr();
+            int count = Interlocked.Add(ref dispatch[3], -1);
+
+            if (count < inputPositions.Length && inputAttributes[count].x > 0)
+            {
+                int aliveCount = Interlocked.Add(ref dispatch[7], 1) - 1;
+
+                float4 attributes = inputAttributes[count];
+                float4 packedData = BurstMath.UnpackFloatRGBA(attributes.w);
+
+                int offsetCount = ((int)parameters.mode == 1) ? 4 : 8;
+                float4 advectedVelocity = float4.zero;
+                float kernelSum = -packedData.w;
+                uint neighbourCount = 0;
+
+                float4 diffusePos = inputPositions[count];
+                float4 avgPos = float4.zero;
+
+                for (int k = 0; k < gridLevels.Length; ++k)
+                {
+                    int l = gridLevels[k];
+                    float radius = NativeMultilevelGrid<int>.CellSizeOfLevel(l);
+                    float interactionDist = radius * 0.5f;
+
+                    float4 cellCoords = math.floor(diffusePos / radius);
+
+                    cellCoords[3] = 0;
+                    if ((int)parameters.mode == 1)
+                        cellCoords[2] = 0;
+
+                    float4 posInCell = diffusePos - (cellCoords * radius + new float4(interactionDist));
+                    int4 quadrant = (int4)math.sign(posInCell);
+
+                    quadrant[3] = l;
+
+                    for (int o = 0; o < offsetCount; ++o)
+                    {
+                        int cellIndex;
+                        if (grid.TryGetCellIndex((int4)cellCoords + offsets[o] * quadrant, out cellIndex))
+                        {
+                            var cell = grid.usedCells[cellIndex];
+                            for (int n = 0; n < cell.Length; ++n)
+                            {
+                                int simplexStart = simplexCounts.GetSimplexStartAndSize(cell[n], out int simplexSize);
+
+                                for (int a = 0; a < simplexSize; ++a)
+                                {
+                                    int p = simplices[simplexStart + a];
+                                    float4 normal = diffusePos - positions[p];
+
+                                    normal[3] = 0;
+                                    if ((int)parameters.mode == 1)
+                                        normal[2] = 0;
+
+                                    float d = math.length(normal);
+                                    if (d <= interactionDist)
+                                    {
+                                        float3 radii = fluidMaterial[p].x * (principalRadii[p].xyz / principalRadii[p].x);
+
+                                        normal.xyz = math.mul(math.conjugate(orientations[p]), normal.xyz) / radii;
+                                        d = math.length(normal) * radii.x;
+
+                                        // scale by volume (1 / normalized density)
+                                        float w = (1 / fluidData[p].x) * densityKernel.W(d, radii.x);
+
+                                        kernelSum += w;
+                                        advectedVelocity += velocities[p] * w;
+                                        avgPos += positions[p] * w;
+                                        neighbourCount++;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+
+                float4 forces = float4.zero;
+                float velocityScale = 1;
+                float agingScale = 1 + BurstMath.Remap01(currentAliveParticles / (float)inputPositions.Length, agingOverPopulation.x, agingOverPopulation.y) * (agingOverPopulation.z - 1);
+
+                // foam/bubble particle:
+                if (kernelSum > BurstMath.epsilon && neighbourCount > 3)
+                {
+                    // advection: 
+                    forces = packedData.z / deltaTime * (advectedVelocity / (kernelSum + packedData.w) - inputVelocities[count]);
+
+                    // buoyancy:
+                    forces -= new float4(parameters.gravity * parameters.foamGravityScale * inputVelocities[count].w * math.saturate(kernelSum), 0);
+
+                }
+                else // ballistic:
+                {
+                    // gravity:
+                    forces += new float4(parameters.gravity * parameters.foamGravityScale, 0);
+
+                    // atmospheric drag/aging:
+                    velocityScale = packedData.y;
+                    agingScale *= packedData.x * 50;
+                }
+
+                // don't change 4th component, as its used to store buoyancy control parameter.
+                forces[3] = 0;
+
+                // update particle data:
+                attributes.x -= attributes.y * deltaTime * agingScale;
+                outputAttributes[aliveCount] = attributes;
+                outputColors[aliveCount] = inputColors[count];
+
+                // integrate:
+                outputVelocities[aliveCount] = (inputVelocities[count] + forces * deltaTime) * velocityScale;
+                outputPositions[aliveCount] = new float4((inputPositions[count] + outputVelocities[aliveCount] * deltaTime).xyz,neighbourCount);
+            }
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct CopyJob : IJobParallelForDefer
+    {
+        [ReadOnly] public NativeArray<float4> inputPositions;
+        [ReadOnly] public NativeArray<float4> inputVelocities;
+        [ReadOnly] public NativeArray<float4> inputColors;
+        [ReadOnly] public NativeArray<float4> inputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        public void Execute(int i)
+        {
+            if (i == 0)
+            {
+                dispatchBuffer[3] = dispatchBuffer[7];
+                dispatchBuffer[7] = 0;
+            }
+
+            outputPositions[i] = inputPositions[i];
+            outputVelocities[i] = inputVelocities[i];
+            outputColors[i] = inputColors[i];
+            outputAttributes[i] = inputAttributes[i];
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta
new file mode 100644
index 00000000..bdd0b48e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs
new file mode 100644
index 00000000..63fdcd54
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs
@@ -0,0 +1,53 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct InterpolationJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> startPositions;
+        [ReadOnly] public NativeArray<float4> endPositions;
+        [WriteOnly] public NativeArray<float4> renderablePositions;
+
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<quaternion> startOrientations;
+        [ReadOnly] public NativeArray<quaternion> endOrientations;
+        [WriteOnly] public NativeArray<quaternion> renderableOrientations;
+
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [WriteOnly] public NativeArray<float4> renderableRadii;
+
+        [ReadOnly] public float blendFactor;
+        [ReadOnly] public Oni.SolverParameters.Interpolation interpolationMode;
+
+        // The code actually running on the job
+        public void Execute(int i)
+        {
+            if (interpolationMode == Oni.SolverParameters.Interpolation.Interpolate)
+            {
+                renderablePositions[i] = math.lerp(startPositions[i], endPositions[i], blendFactor);
+                renderableOrientations[i] = math.normalize(math.slerp(startOrientations[i], endOrientations[i], blendFactor));
+                renderableRadii[i] = principalRadii[i];
+            }
+            else if (interpolationMode == Oni.SolverParameters.Interpolation.Extrapolate)
+            {
+                renderablePositions[i] = math.lerp(endPositions[i], positions[i], blendFactor);
+                renderableOrientations[i] = math.normalize(math.slerp(endOrientations[i], orientations[i], blendFactor));
+                renderableRadii[i] = principalRadii[i];
+            }
+            else
+            {
+                renderablePositions[i] = endPositions[i];
+                renderableOrientations[i] = math.normalize(endOrientations[i]);
+                renderableRadii[i] = principalRadii[i];
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta
new file mode 100644
index 00000000..6516fdb7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8928e13e186424d31a319347de871c16
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
new file mode 100644
index 00000000..106fa387
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
@@ -0,0 +1,82 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct PredictPositionsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<int> phases;
+        [ReadOnly] public NativeArray<float4> buoyancies;
+
+        // linear/position properties:
+        [ReadOnly] public NativeArray<float4> externalForces;
+        [ReadOnly] public NativeArray<float> inverseMasses;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [ReadOnly] public NativeArray<float4> externalTorques;
+        [ReadOnly] public NativeArray<float> inverseRotationalMasses;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float4 gravity;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public bool is2D;
+
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            // the previous position/orientation is the current position/orientation at the start of the step.
+            previousPositions[i] = positions[i];
+            previousOrientations[i] = orientations[i];
+
+            if (inverseMasses[i] > 0)
+            {
+                float4 effectiveGravity = gravity;
+
+                // Adjust gravity for buoyant fluid particles:
+                if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) != 0)
+                    effectiveGravity *= -buoyancies[i].z;
+
+                // apply external forces and gravity:
+                float4 vel = velocities[i] + (inverseMasses[i] * externalForces[i] + effectiveGravity) * deltaTime; 
+
+                // project velocity to 2D plane if needed:
+                if (is2D)
+                    vel[3] = 0;
+
+                velocities[i] = vel;
+            }
+
+            if (inverseRotationalMasses[i] > 0)
+            {
+                // apply external torques (simplification: we don't use full inertia tensor here)
+                float3 angularVel = angularVelocities[i].xyz + inverseRotationalMasses[i] * externalTorques[i].xyz * deltaTime;
+
+                // project angular velocity to 2D plane normal if needed:
+                if (is2D)
+                    angularVel = angularVel.project(new float3(0, 0, 1));
+
+                angularVelocities[i] = new float4(angularVel, angularVelocities[i].w);
+            }
+
+            // integrate velocities:
+            positions[i]    = BurstIntegration.IntegrateLinear(positions[i], velocities[i], deltaTime);
+            orientations[i] = BurstIntegration.IntegrateAngular(orientations[i], angularVelocities[i], deltaTime);
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta
new file mode 100644
index 00000000..ea542bbe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
new file mode 100644
index 00000000..a8f64e02
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
@@ -0,0 +1,121 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    struct ResetNormals : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> phases;
+        [WriteOnly] public NativeArray<float4> normals;
+        [WriteOnly] public NativeArray<float4> tangents;
+
+        public void Execute(int i)
+        {
+            // leave fluid normals intact.
+            if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) == 0)
+            {
+                normals[i] = float4.zero;
+                tangents[i] = float4.zero;
+            }
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct UpdateTriangleNormalsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> deformableTriangles;
+        [ReadOnly] public NativeArray<float2> deformableTriangleUVs;
+        [ReadOnly] public NativeArray<float4> renderPositions;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> tangents;
+
+        public void Execute(int i)
+        {
+            int p1 = deformableTriangles[i*3];
+            int p2 = deformableTriangles[i*3 + 1];
+            int p3 = deformableTriangles[i*3 + 2];
+
+            float3 m1 = (renderPositions[p2] - renderPositions[p1]).xyz;
+            float3 m2 = (renderPositions[p3] - renderPositions[p1]).xyz;
+
+            float2 s = deformableTriangleUVs[i * 3 + 1] - deformableTriangleUVs[i * 3];
+            float2 t = deformableTriangleUVs[i * 3 + 2] - deformableTriangleUVs[i * 3];
+
+            float4 normal  = new float4(math.cross(m1, m2), 0);
+            float4 tangent = float4.zero;
+
+            float area = s.x * t.y - t.x * s.y;
+
+            if (math.abs(area) > BurstMath.epsilon)
+            {
+                tangent = new float4(t.y * m1.x - s.y * m2.x,
+                                     t.y * m1.y - s.y * m2.y,
+                                     t.y * m1.z - s.y * m2.z, 0) / area;
+            }
+
+            BurstMath.AtomicAdd(normals, p1, normal);
+            BurstMath.AtomicAdd(normals, p2, normal);
+            BurstMath.AtomicAdd(normals, p3, normal);
+
+            BurstMath.AtomicAdd(tangents, p1, tangent);
+            BurstMath.AtomicAdd(tangents, p2, tangent);
+            BurstMath.AtomicAdd(tangents, p3, tangent);
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct UpdateEdgeNormalsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> deformableEdges;
+        [ReadOnly] public NativeArray<float4> wind;
+        [ReadOnly] public NativeArray<float4> renderPositions;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+
+        public void Execute(int i)
+        {
+            int p1 = deformableEdges[i * 2];
+            int p2 = deformableEdges[i * 2 + 1];
+
+            float4 edge = renderPositions[p2] - renderPositions[p1];
+            float4 avgWind = (wind[p1] + wind[p2]) * 0.5f;
+            float4 normal = avgWind - math.projectsafe(avgWind, edge);
+
+            BurstMath.AtomicAdd(normals, p1, normal);
+            BurstMath.AtomicAdd(normals, p2, normal);
+        }
+    }
+
+    [BurstCompile]
+    struct RenderableOrientationFromNormals : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> phases;
+
+        public NativeArray<float4> normals;
+        public NativeArray<float4> tangents;
+
+        [WriteOnly] public NativeArray<quaternion> renderableOrientations;
+
+        public void Execute(int i)
+        {
+            if (math.lengthsq(normals[i]) > BurstMath.epsilon &&
+                math.lengthsq(tangents[i]) > BurstMath.epsilon &&
+                (phases[i] & (int)ObiUtils.ParticleFlags.Fluid) == 0)
+            {
+                normals[i] = math.normalizesafe(normals[i]);
+                tangents[i] = math.normalizesafe(tangents[i]);
+
+                // particle orientation from normal/tangent:
+                renderableOrientations[i] = quaternion.LookRotation(normals[i].xyz, tangents[i].xyz);
+            }
+        }
+    }
+}
+#endif
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta
new file mode 100644
index 00000000..89f9e14c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c46e86e164afb414fbc171972a53eb91
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
new file mode 100644
index 00000000..9401d9bc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
@@ -0,0 +1,68 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct UpdatePositionsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+
+        // linear/position properties:
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float velocityScale;
+        [ReadOnly] public float sleepThreshold;
+        [ReadOnly] public float maxVelocity;
+        [ReadOnly] public float maxAngularVelocity;
+
+        // The code actually running on the job
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            float4 velocity = velocities[i];
+            float4 angVelocity = angularVelocities[i];
+
+            // damp velocities:
+            velocity *= velocityScale;
+            angVelocity.xyz *= velocityScale;
+
+            // clamp velocities:
+            float velMagnitude = math.length(velocity);
+            float angularVelMagnitude = math.length(angVelocity.xyz);
+
+            if (velMagnitude > BurstMath.epsilon)
+                velocity *= math.min(maxVelocity, velMagnitude) / velMagnitude;
+
+            if (angularVelMagnitude > BurstMath.epsilon)
+                angVelocity.xyz *= math.min(maxAngularVelocity, angularVelMagnitude) / angularVelMagnitude;
+
+            // if the kinetic energy is below the sleep threshold, keep the particle at its previous position.
+            if (velMagnitude * velMagnitude * 0.5f + angularVelMagnitude * angularVelMagnitude * 0.5f <= sleepThreshold)
+            {
+                positions[i] = previousPositions[i];
+                orientations[i] = previousOrientations[i];
+                velocity = float4.zero;
+                angVelocity.xyz = float3.zero;
+            }
+
+            velocities[i] = velocity;
+            angularVelocities[i] = angVelocity;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta
new file mode 100644
index 00000000..1bb7363e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta
@@ -0,0 +1,11 @@
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+guid: a41d3897adb37457da8385a46e6f0bb6
+MonoImporter:
+  externalObjects: {}
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+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
new file mode 100644
index 00000000..32a18964
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
@@ -0,0 +1,58 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct UpdateVelocitiesJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+
+        // linear/position properties:
+        [ReadOnly] public NativeArray<float> inverseMasses;
+        [ReadOnly] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] [WriteOnly] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [ReadOnly] public NativeArray<float> inverseRotationalMasses;
+        [ReadOnly] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public bool is2D;
+
+        // The code actually running on the job
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            // Project particles on the XY plane if we are in 2D mode:
+            if (is2D)
+            {
+                // restrict position to the 2D plane
+                float4 pos = positions[i];
+                pos[2] = previousPositions[i][2];
+                positions[i] = pos;
+            }
+
+            if (inverseMasses[i] > 0)
+                velocities[i] = BurstIntegration.DifferentiateLinear(positions[i], previousPositions[i], deltaTime);
+            else
+                velocities[i] = float4.zero;
+
+            if (inverseRotationalMasses[i] > 0)
+                angularVelocities[i] = new float4(BurstIntegration.DifferentiateAngular(orientations[i], previousOrientations[i], deltaTime).xyz, angularVelocities[i].w);
+            else
+                angularVelocities[i] = float4.zero;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta
new file mode 100644
index 00000000..f437dcec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute.meta
new file mode 100644
index 00000000..18db0ca7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta
new file mode 100644
index 00000000..bd5f862e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1816ef976b3b64da7bf7a71a91e97d0f
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs
new file mode 100644
index 00000000..c79f40e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBox
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeBox()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoxShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Box); 
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta
new file mode 100644
index 00000000..d5d5809e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta
@@ -0,0 +1,11 @@
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+guid: 669f5cb47192b4a08864250bd4ba3872
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs
new file mode 100644
index 00000000..576fe40e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeCapsule
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeCapsule()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/CapsuleShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Capsule);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta
new file mode 100644
index 00000000..13e33af8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs
new file mode 100644
index 00000000..6bc34566
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs
@@ -0,0 +1,472 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderWorld : MonoBehaviour, IColliderWorldImpl
+    {
+        public int referenceCount { get; private set; } = 0;
+
+        public int colliderCount { get; private set; } = 0;
+        public int rigidbodyCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+        public int forceZoneCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+        public int materialCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+
+        public int triangleMeshCount { get; private set; } = -1;
+        public int edgeMeshCount { get; private set; } = -1;
+        public int distanceFieldCount { get; private set; } = -1;
+        public int heightFieldCount { get; private set; } = -1;
+
+        private ComputePrefixSum prefixSum;
+
+        private ComputeShader gridShader;
+        private int buildKernel;
+        private int gridPopulationKernel;
+        private int sortKernel;
+        private int contactsKernel;
+        private int clearKernel;
+        private int prefixSumPairsKernel;
+        private int sortPairsKernel;
+        private int applyForceZonesKernel;
+        private int writeForceZoneResultsKernel;
+
+        public GraphicsBuffer materialsBuffer;
+        public GraphicsBuffer aabbsBuffer;
+        public GraphicsBuffer transformsBuffer;
+        public GraphicsBuffer shapesBuffer;
+        public GraphicsBuffer forceZonesBuffer;
+        public GraphicsBuffer rigidbodiesBuffer;
+        public GraphicsBuffer sortedColliderIndicesBuffer;
+
+        public GraphicsBuffer cellIndicesBuffer;     //for each collider, the IDs of the 8 cells it covers.
+        public GraphicsBuffer cellOffsetsBuffer;     //for each cell, start offset in the sorted span indices buffer.
+
+        public GraphicsBuffer cellCountsBuffer;      // for each cell, how many colliders in it.
+        public GraphicsBuffer offsetInCells; // for each collider, its offset in each of the 8 cells.
+        public GraphicsBuffer levelPopulation;      // buffer storing amount of entries in each grid level
+
+        private GraphicsBuffer colliderTypeCounts;   // amount of contacts against each collider type.
+        public GraphicsBuffer unsortedContactPairs;  // unsorted contact pairs.
+        public GraphicsBuffer contactPairs;          // list of contact pairs.
+        public GraphicsBuffer contactOffsetsPerType; // offset in the contact pairs array for each collider type.
+
+        public GraphicsBuffer dispatchBuffer;        // dispatch info for iterating trough contacts.
+
+        public GraphicsBuffer heightFieldHeaders;
+        public GraphicsBuffer heightFieldSamples;
+
+        public GraphicsBuffer distanceFieldHeaders;
+        public GraphicsBuffer dfNodes;
+
+        public GraphicsBuffer edgeMeshHeaders;
+        public GraphicsBuffer edgeBihNodes;
+        public GraphicsBuffer edges;
+        public GraphicsBuffer edgeVertices;
+
+        public GraphicsBuffer triangleMeshHeaders;
+        public GraphicsBuffer bihNodes;
+        public GraphicsBuffer triangles;
+        public GraphicsBuffer vertices;
+
+        public const int maxContacts = 512 * 512;
+        private const int maxCells = 512 * 512;
+        private const int cellsPerCollider = 8;
+        private const int maxGridLevels = 24;
+        private uint[] colliderCountClear = new uint[Oni.ColliderShapeTypeCount];
+        private uint[] dispatchClear = { 0, 1, 1, 0, // contacts
+                                         0, 1, 1, 0, // pairs
+                                         0, 1, 1, 0, // spheres
+                                         0, 1, 1, 0, // boxes
+                                         0, 1, 1, 0, // capsules
+                                         0, 1, 1, 0, // heighmaps
+                                         0, 1, 1, 0, // tri mesh
+                                         0, 1, 1, 0, // edge mesh 
+                                         0, 1, 1, 0, // distance field
+                                        };
+
+        private ComputeSphere spheres;
+        private ComputeBox boxes;
+        private ComputeCapsule capsules;
+        private ComputeTriangleMesh triangleMeshes;
+        private ComputeEdgeMesh edgeMeshes;
+        private ComputeDistanceField distanceFields;
+        private ComputeHeightField heightFields;
+
+        // for each particle in parallel:
+        // determine its cell span in the collider grid.
+        // iterate over all of them, generating contacts.
+
+        // we just need to get collider indices from each cell.
+        // sort by cell, store offset for each cell.
+
+        // each collider keeps track of 8 uints: IDs of the cells it overlaps. unused are invalid.
+        // each collider must know offset within each cell: another 8 units per collider.
+        // we can keep using the same system as we did with particles.
+
+
+        public void Awake()
+        {
+            ObiColliderWorld.GetInstance().RegisterImplementation(this);
+
+            prefixSum = new ComputePrefixSum(maxCells);
+
+            gridShader = Resources.Load<ComputeShader>("Compute/ColliderGrid");
+            buildKernel = gridShader.FindKernel("BuildUnsortedList");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortKernel = gridShader.FindKernel("SortList");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+            clearKernel = gridShader.FindKernel("Clear");
+            prefixSumPairsKernel = gridShader.FindKernel("PrefixSumColliderCounts");
+            sortPairsKernel = gridShader.FindKernel("SortContactPairs");
+            applyForceZonesKernel = gridShader.FindKernel("ApplyForceZones");
+            writeForceZoneResultsKernel = gridShader.FindKernel("WriteForceZoneResults");
+
+            gridShader.SetInt("shapeTypeCount", Oni.ColliderShapeTypeCount);
+            gridShader.SetInt("maxContacts", maxContacts);
+            gridShader.SetInt("colliderCount", colliderCount);
+            gridShader.SetInt("cellsPerCollider", cellsPerCollider);
+            gridShader.SetInt("maxCells", (int)maxCells);
+
+            cellOffsetsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            cellCountsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+
+            // first entry is amount of non-empty levels in the grid.
+            // next maxGridLevels entries hold the indices of the non-empty levels. 
+            // final maxGridLevels entries hold the population of each level.
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+
+            colliderTypeCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.ColliderShapeTypeCount, 4);
+            contactOffsetsPerType = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.ColliderShapeTypeCount + 1, 4);
+            unsortedContactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxContacts, 8);
+
+            contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxContacts, 8);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, dispatchClear.Length, sizeof(uint));
+
+            spheres = new ComputeSphere();
+            boxes = new ComputeBox();
+            capsules = new ComputeCapsule();
+            triangleMeshes = new ComputeTriangleMesh();
+            edgeMeshes = new ComputeEdgeMesh();
+            distanceFields = new ComputeDistanceField();
+            heightFields = new ComputeHeightField();
+        }
+
+        public void OnDestroy()
+        {
+            ObiColliderWorld.GetInstance().UnregisterImplementation(this);
+
+            prefixSum.Dispose();
+
+            cellOffsetsBuffer.Dispose();
+            cellCountsBuffer.Dispose();
+            levelPopulation.Dispose();
+
+            contactPairs.Dispose();
+            dispatchBuffer.Dispose();
+
+            colliderTypeCounts.Dispose();
+            contactOffsetsPerType.Dispose();
+            unsortedContactPairs.Dispose();
+
+            if (cellIndicesBuffer != null)
+                cellIndicesBuffer.Dispose();
+            if (offsetInCells != null)
+                offsetInCells.Dispose();
+            if (sortedColliderIndicesBuffer != null)
+                sortedColliderIndicesBuffer.Dispose();
+        }
+
+        public void IncreaseReferenceCount()
+        {
+            referenceCount++;
+        }
+        public void DecreaseReferenceCount()
+        {
+            if (--referenceCount <= 0 && gameObject != null)
+                DestroyImmediate(gameObject);
+        }
+
+        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
+        {
+            if (colliderCount != shapes.count || aabbsBuffer == null || !aabbsBuffer.IsValid())
+                aabbsBuffer = ObiColliderWorld.GetInstance().colliderAabbs.AsComputeBuffer<Aabb>();
+
+            if (colliderCount != shapes.count || shapesBuffer == null || !shapesBuffer.IsValid())
+                shapesBuffer = ObiColliderWorld.GetInstance().colliderShapes.AsComputeBuffer<ColliderShape>();
+
+            if (colliderCount != shapes.count || transformsBuffer == null || !transformsBuffer.IsValid())
+                transformsBuffer = ObiColliderWorld.GetInstance().colliderTransforms.AsComputeBuffer<AffineTransform>();
+
+            // Only update in case the amount of colliders has changed:
+            if (colliderCount != shapes.count)
+            {
+                colliderCount = shapes.count;
+                gridShader.SetInt("colliderCount", colliderCount); 
+
+                if (cellIndicesBuffer != null)
+                {
+                    cellIndicesBuffer.Release();
+                    cellIndicesBuffer = null;
+                }
+                if (offsetInCells != null)
+                {
+                    offsetInCells.Release();
+                    offsetInCells = null;
+                }
+                if (sortedColliderIndicesBuffer != null)
+                {
+                    sortedColliderIndicesBuffer.Release();
+                    sortedColliderIndicesBuffer = null;
+                }
+
+                if (colliderCount > 0)
+                {
+                    cellIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                    offsetInCells = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                    sortedColliderIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                }
+            }
+        }
+
+        public void SetForceZones(ObiNativeForceZoneList forceZones)
+        {
+            // Changing the count of a NativeList should not invalidate compute buffer. Only need to invalidate if *capacity* changes, it's up to the user to 
+            // regenerate the compute buffer in case it is needed, or Uplodad() the new data in case it is not (because our compute buffer maps full capacity, instead of only up to count)
+            if (forceZoneCount != forceZones.count || forceZonesBuffer == null || !forceZonesBuffer.IsValid())
+            {
+                forceZoneCount = forceZones.count;
+                forceZonesBuffer = forceZones.SafeAsComputeBuffer<ForceZone>();
+            }
+        }
+
+        public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
+        {
+            if (rigidbodyCount != rigidbody.count || rigidbodiesBuffer == null || !rigidbodiesBuffer.IsValid())
+            {
+                rigidbodyCount = rigidbody.count;
+                rigidbodiesBuffer = rigidbody.SafeAsComputeBuffer<ColliderRigidbody>();
+            }
+        }
+
+        public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
+        {
+            if (materialCount != materials.count || materialsBuffer == null || !materialsBuffer.IsValid())
+            {
+                materialCount = materials.count;
+                materialsBuffer = materials.SafeAsComputeBuffer<CollisionMaterial>();
+            }
+        }
+
+        public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
+        {
+            if (triangleMeshCount != headers.count || triangleMeshHeaders == null || !triangleMeshHeaders.IsValid())
+            {
+                triangleMeshCount = headers.count;
+                triangleMeshHeaders = headers.AsComputeBuffer<TriangleMeshHeader>();
+                bihNodes = nodes.AsComputeBuffer<BIHNode>();
+                this.triangles = triangles.AsComputeBuffer<Triangle>();
+                this.vertices = vertices.AsComputeBuffer<Vector3>();
+            }
+        }
+
+        public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
+        {
+            if (edgeMeshCount != headers.count || edgeMeshHeaders == null || !edgeMeshHeaders.IsValid())
+            {
+                edgeMeshCount = headers.count;
+                edgeMeshHeaders = headers.AsComputeBuffer<EdgeMeshHeader>();
+                edgeBihNodes = nodes.AsComputeBuffer<BIHNode>();
+                this.edges = edges.AsComputeBuffer<Edge>();
+                edgeVertices = vertices.AsComputeBuffer<Vector2>();
+            }
+        }
+
+        public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes)
+        {
+            if (distanceFieldCount != headers.count || distanceFieldHeaders == null || !distanceFieldHeaders.IsValid())
+            {
+                distanceFieldCount = headers.count;
+                distanceFieldHeaders = headers.AsComputeBuffer<DistanceFieldHeader>();
+                dfNodes = nodes.AsComputeBuffer<DFNode>();
+            }
+        }
+
+        public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples)
+        {
+            if (heightFieldCount != headers.count || heightFieldHeaders == null || !heightFieldHeaders.IsValid())
+            {
+                heightFieldCount = headers.count;
+                heightFieldHeaders = headers.AsComputeBuffer<HeightFieldHeader>();
+                heightFieldSamples = samples.AsComputeBuffer<float>();
+            }
+        }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+                // Send data from the CPU to the GPU:
+                ObiColliderWorld.GetInstance().colliderShapes.Upload();
+                ObiColliderWorld.GetInstance().colliderTransforms.Upload();
+                ObiColliderWorld.GetInstance().colliderAabbs.Upload();
+                ObiColliderWorld.GetInstance().rigidbodies.Upload();
+                ObiColliderWorld.GetInstance().forceZones.Upload();
+
+                int colliderThreadGroups = ComputeMath.ThreadGroupCount(colliderCount, 128);
+                int capacityThreadGroups = ComputeMath.ThreadGroupCount(colliderCount * 8, 128);
+                int cellThreadGroups = ComputeMath.ThreadGroupCount(maxCells, 128);
+
+                // clear grid:
+                gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsetsBuffer);
+                gridShader.SetBuffer(clearKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(clearKernel, "cellCounts", cellCountsBuffer);
+                gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(clearKernel, Mathf.Max(cellThreadGroups, capacityThreadGroups), 1, 1);
+
+                // build cell list:
+                gridShader.SetBuffer(buildKernel, "aabbs", aabbsBuffer);
+                gridShader.SetBuffer(buildKernel, "shapes", shapesBuffer);
+                gridShader.SetBuffer(buildKernel, "rigidbodies", rigidbodiesBuffer);
+                gridShader.SetBuffer(buildKernel, "collisionMaterials", materialsBuffer);
+                gridShader.SetBuffer(buildKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(buildKernel, "cellCounts", cellCountsBuffer);
+                gridShader.SetBuffer(buildKernel, "offsetInCells", offsetInCells);
+                gridShader.SetBuffer(buildKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(buildKernel, colliderThreadGroups, 1, 1);
+
+                // find populated grid levels:
+                gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+                // prefix sum: 
+                prefixSum.Sum(cellCountsBuffer, cellOffsetsBuffer);
+
+                // sort particle indices:
+                gridShader.SetBuffer(sortKernel, "sortedColliderIndices", sortedColliderIndicesBuffer);
+                gridShader.SetBuffer(sortKernel, "offsetInCells", offsetInCells);
+                gridShader.SetBuffer(sortKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(sortKernel, "cellOffsets", cellOffsetsBuffer);
+                gridShader.Dispatch(sortKernel, capacityThreadGroups, 1, 1);
+            }
+        }
+
+        public void ApplyForceZones(ComputeSolverImpl solver, float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+                if (solver.activeParticlesBuffer != null && solver.simplices != null && forceZonesBuffer != null)
+                {
+                    gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                    gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                    gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                    gridShader.SetFloat("deltaTime", deltaTime);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "simplices", solver.simplices);
+                    gridShader.SetBuffer(applyForceZonesKernel, "positions", solver.positionsBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "velocities", solver.velocitiesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "invMasses", solver.invMassesBuffer);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "transforms", transformsBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "forceZones", forceZonesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "deltasAsInt", solver.positionDeltasIntBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "orientationDeltasAsInt", solver.orientationDeltasIntBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "worldToSolver", solver.worldToSolverBuffer);
+
+                    gridShader.DispatchIndirect(applyForceZonesKernel, dispatchBuffer);
+
+                    int threadGroups = ComputeMath.ThreadGroupCount(solver.activeParticleCount, 128);
+                    gridShader.SetInt("particleCount", solver.activeParticleCount);
+
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "activeParticles", solver.activeParticlesBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "externalForces", solver.externalForcesBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "life", solver.lifeBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "wind", solver.windBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "deltasAsInt", solver.positionDeltasIntBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "orientationDeltasAsInt", solver.orientationDeltasIntBuffer);
+
+                    gridShader.Dispatch(writeForceZoneResultsKernel, threadGroups, 1, 1);
+                }
+            }
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+                int particleThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                colliderTypeCounts.SetData(colliderCountClear);
+                dispatchBuffer.SetData(dispatchClear);
+
+                if (solver.activeParticlesBuffer != null && solver.simplices != null)
+                {
+                    solver.abstraction.colliderContacts.computeBuffer.SetCounterValue(0);
+
+                    gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                    gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                    gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+
+                    gridShader.SetFloat("colliderCCD", solver.abstraction.parameters.colliderCCD);
+                    gridShader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                    gridShader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                    gridShader.SetInt("mode", (int)solver.abstraction.parameters.mode);
+                    gridShader.SetFloat("deltaTime", deltaTime);
+
+                    gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+                    gridShader.SetBuffer(contactsKernel, "simplexBounds", solver.simplexBounds);
+                    gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+                    gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+                    gridShader.SetBuffer(contactsKernel, "sortedColliderIndices", sortedColliderIndicesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "aabbs", aabbsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "transforms", transformsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "rigidbodies", rigidbodiesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "collisionMaterials", materialsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "collisionMaterialIndices", solver.collisionMaterialIndexBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellIndices", cellIndicesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellOffsets", cellOffsetsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellCounts", cellCountsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "levelPopulation", levelPopulation);
+
+                    gridShader.SetBuffer(contactsKernel, "solverToWorld", solver.solverToWorldBuffer);
+                    gridShader.SetBuffer(contactsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(contactsKernel, "unsortedContactPairs", unsortedContactPairs);
+                    gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.Dispatch(contactsKernel, particleThreadGroups, 1, 1);
+
+                    gridShader.SetBuffer(prefixSumPairsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(prefixSumPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+                    gridShader.SetBuffer(prefixSumPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.Dispatch(prefixSumPairsKernel, 1, 1, 1);
+
+                    gridShader.SetBuffer(sortPairsKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(sortPairsKernel, "unsortedContactPairs", unsortedContactPairs);
+                    gridShader.SetBuffer(sortPairsKernel, "contactPairs", contactPairs);
+                    gridShader.SetBuffer(sortPairsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(sortPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+                    gridShader.SetBuffer(sortPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.DispatchIndirect(sortPairsKernel, dispatchBuffer, 16);
+
+                    boxes.GenerateContacts(solver, this);
+                    spheres.GenerateContacts(solver, this);
+                    capsules.GenerateContacts(solver, this);
+                    triangleMeshes.GenerateContacts(solver, this, deltaTime);
+                    edgeMeshes.GenerateContacts(solver, this, deltaTime);
+                    distanceFields.GenerateContacts(solver, this, deltaTime);
+                    heightFields.GenerateContacts(solver, this, deltaTime);
+                }
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta
new file mode 100644
index 00000000..54b57c22
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ce0ddc77554954cd78643d83b0505396
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs
new file mode 100644
index 00000000..2c6214af
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs
@@ -0,0 +1,50 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceField
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeDistanceField()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DistanceFieldShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.distanceFieldHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "distanceFieldHeaders", world.distanceFieldHeaders);
+                shader.SetBuffer(kernel, "dfNodes", world.dfNodes);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.SignedDistanceField);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta
new file mode 100644
index 00000000..578a29d2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e43826d84a91b447c88f6d65a6e329ac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs
new file mode 100644
index 00000000..c36045c5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeEdgeMesh
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeEdgeMesh()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/EdgeMeshShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.edgeMeshHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "edgeMeshHeaders", world.edgeMeshHeaders);
+                shader.SetBuffer(kernel, "edgeBihNodes", world.edgeBihNodes);
+                shader.SetBuffer(kernel, "edges", world.edges);
+                shader.SetBuffer(kernel, "edgeVertices", world.edgeVertices);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.EdgeMesh);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta
new file mode 100644
index 00000000..a2552e67
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta
@@ -0,0 +1,11 @@
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+guid: 6191dad6170694a7c8f9eca0cd733e7a
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs
new file mode 100644
index 00000000..2e8cd144
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs
@@ -0,0 +1,51 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeHeightField
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeHeightField()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/HeightfieldShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.heightFieldHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "heightFieldHeaders", world.heightFieldHeaders);
+                shader.SetBuffer(kernel, "heightFieldSamples", world.heightFieldSamples);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Heightmap);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta
new file mode 100644
index 00000000..f97c873a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c209374faec0f47adacedb911e8582fd
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs
new file mode 100644
index 00000000..aa4a272a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSphere
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeSphere()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SphereShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Sphere); 
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta
new file mode 100644
index 00000000..3a907d4a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8994093c1331f405b92c10a6401791d3
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs
new file mode 100644
index 00000000..5dd29a77
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTriangleMesh
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeTriangleMesh()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/TriangleMeshShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.triangleMeshHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "triangleMeshHeaders", world.triangleMeshHeaders);
+                shader.SetBuffer(kernel, "bihNodes", world.bihNodes);
+                shader.SetBuffer(kernel, "triangles", world.triangles);
+                shader.SetBuffer(kernel, "vertices", world.vertices);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.TriangleMesh);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta
new file mode 100644
index 00000000..5de323c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs
new file mode 100644
index 00000000..2f93cc57
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs
@@ -0,0 +1,245 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class SpatialQueries
+    {
+        private ComputePrefixSum prefixSum;
+
+        private ComputeShader gridShader;
+        private int buildKernel;
+        private int gridPopulationKernel;
+        private int sortKernel;
+        private int contactsKernel;
+        private int clearKernel;
+        private int prefixSumPairsKernel;
+        private int sortPairsKernel;
+
+        public GraphicsBuffer sortedShapeIndicesBuffer;
+
+        public GraphicsBuffer cellIndicesBuffer;     //for each collider, the IDs of the 8 cells it covers.
+        public GraphicsBuffer cellOffsetsBuffer;     //for each cell, start offset in the sorted span indices buffer.
+
+        public GraphicsBuffer cellCountsBuffer;      // for each cell, how many colliders in it.
+        public GraphicsBuffer offsetInCells; // for each collider, its offset in each of the 8 cells.
+        public GraphicsBuffer levelPopulation;      // buffer storing the lowest and highest populated level.
+
+        private GraphicsBuffer queryTypeCounts;   // amount of contacts against each collider type.
+        public GraphicsBuffer unsortedContactPairs;  // unsorted contact pairs.
+        public GraphicsBuffer contactPairs;          // list of contact pairs.
+        public GraphicsBuffer contactOffsetsPerType; // offset in the contact pairs array for each collider type.
+
+        public GraphicsBuffer dispatchBuffer;        // dispatch info for iterating trough contacts.
+
+        private const int maxCells = 512 * 512;
+        private const int cellsPerShape = 8;
+        private const int maxGridLevels = 24;
+        private uint[] queryCountClear = new uint[Oni.QueryTypeCount];
+        private uint[] dispatchClear = { 0, 1, 1, 0, // contacts
+                                         0, 1, 1, 0, // pairs
+                                         0, 1, 1, 0, // spheres
+                                         0, 1, 1, 0, // boxes
+                                         0, 1, 1, 0 // rays
+                                        };
+
+        private ComputeSphereQuery spheres;
+        private ComputeBoxQuery boxes;
+        private ComputeRayQuery rays;
+
+        public SpatialQueries(uint capacity)
+        {
+            gridShader = Resources.Load<ComputeShader>("Compute/SpatialQueries");
+            buildKernel = gridShader.FindKernel("BuildUnsortedList");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortKernel = gridShader.FindKernel("SortList");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+            clearKernel = gridShader.FindKernel("Clear");
+            prefixSumPairsKernel = gridShader.FindKernel("PrefixSumColliderCounts");
+            sortPairsKernel = gridShader.FindKernel("SortContactPairs");
+
+            gridShader.SetInt("shapeTypeCount", Oni.QueryTypeCount);
+            gridShader.SetInt("cellsPerShape", cellsPerShape);
+            gridShader.SetInt("maxCells", (int)maxCells);
+
+            cellOffsetsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            cellCountsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, dispatchClear.Length, sizeof(uint));
+
+            queryTypeCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.QueryTypeCount, 4);
+            contactOffsetsPerType = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.QueryTypeCount + 1, 4);
+
+            prefixSum = new ComputePrefixSum(maxCells);
+            spheres = new ComputeSphereQuery();
+            boxes = new ComputeBoxQuery();
+            rays = new ComputeRayQuery();
+
+            SetCapacity(capacity); 
+        }
+
+        public void Dispose()
+        {
+            prefixSum?.Dispose();
+
+            cellOffsetsBuffer?.Dispose();
+            cellCountsBuffer?.Dispose();
+            levelPopulation?.Dispose();
+            dispatchBuffer?.Dispose();
+
+            queryTypeCounts?.Dispose();
+            contactOffsetsPerType?.Dispose();
+
+            DisposeOfResultsData();
+            DisposeOfQueryData();
+        }
+
+        private void DisposeOfResultsData()
+        {
+            contactPairs?.Dispose();
+            unsortedContactPairs?.Dispose();
+        }
+
+        private void DisposeOfQueryData()
+        {
+            cellIndicesBuffer?.Dispose();
+            offsetInCells?.Dispose();
+            sortedShapeIndicesBuffer?.Dispose();
+        }
+
+        private void SetCapacity(uint capacity)
+        {
+            DisposeOfResultsData();
+
+            gridShader.SetInt("maxResults", (int)capacity);
+
+            if (capacity > 0)
+            {
+                unsortedContactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)capacity, 8);
+                contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)capacity, 8);
+            }
+        }
+
+        public void SpatialQuery(ComputeSolverImpl solver,
+                                 GraphicsBuffer shapes,
+                                 GraphicsBuffer transforms,
+                                 GraphicsBuffer results)
+        {
+            results.SetCounterValue(0);
+
+            if (solver.activeParticlesBuffer == null || solver.simplices == null)
+                return;
+
+            // If the maximum amount of query results has changed, set capacity:
+            if (contactPairs == null || !contactPairs.IsValid() || contactPairs.count != solver.abstraction.maxQueryResults)
+                SetCapacity(solver.abstraction.maxQueryResults);
+
+            // In case we still have zero capacity, just bail out.
+            if (contactPairs == null || !contactPairs.IsValid())
+                return;
+
+            // Check whether we need to reallocate space for queries:
+            if (cellIndicesBuffer == null || !cellIndicesBuffer.IsValid() || shapes.count * cellsPerShape >= cellIndicesBuffer.count)
+            {
+                DisposeOfQueryData();
+
+                cellIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+                offsetInCells = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+                sortedShapeIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+            }
+
+            gridShader.SetInt("queryCount", shapes.count);
+
+            int particleThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+            int shapeThreadGroups = ComputeMath.ThreadGroupCount(shapes.count, 128);
+            int capacityThreadGroups = ComputeMath.ThreadGroupCount(shapes.count * 8, 128);
+            int cellThreadGroups = ComputeMath.ThreadGroupCount(maxCells, 128);
+
+            queryTypeCounts.SetData(queryCountClear);
+            dispatchBuffer.SetData(dispatchClear);
+
+            // clear grid:
+            gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.SetBuffer(clearKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(clearKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+            gridShader.Dispatch(clearKernel, Mathf.Max(cellThreadGroups, capacityThreadGroups), 1, 1);
+
+            // build cell list:
+            gridShader.SetBuffer(buildKernel, "shapes", shapes);
+            gridShader.SetBuffer(buildKernel, "transforms", transforms);
+            gridShader.SetBuffer(buildKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(buildKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(buildKernel, "offsetInCells", offsetInCells);
+            gridShader.SetBuffer(buildKernel, "levelPopulation", levelPopulation);
+            gridShader.SetBuffer(buildKernel, "worldToSolver", solver.worldToSolverBuffer);
+            gridShader.Dispatch(buildKernel, shapeThreadGroups, 1, 1);
+
+            // find populated grid levels:
+            gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+            gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+            // prefix sum: 
+            prefixSum.Sum(cellCountsBuffer, cellOffsetsBuffer);
+
+            // sort query indices:
+            gridShader.SetBuffer(sortKernel, "sortedColliderIndices", sortedShapeIndicesBuffer);
+            gridShader.SetBuffer(sortKernel, "offsetInCells", offsetInCells);
+            gridShader.SetBuffer(sortKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(sortKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.Dispatch(sortKernel, capacityThreadGroups, 1, 1);
+
+
+            gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            gridShader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            gridShader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            gridShader.SetInt("mode", (int)solver.abstraction.parameters.mode);
+
+            gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+            gridShader.SetBuffer(contactsKernel, "simplexBounds", solver.simplexBounds);
+            gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+            gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+            gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+            gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+            gridShader.SetBuffer(contactsKernel, "sortedColliderIndices", sortedShapeIndicesBuffer);
+            gridShader.SetBuffer(contactsKernel, "transforms", transforms);
+            gridShader.SetBuffer(contactsKernel, "shapes", shapes);
+            gridShader.SetBuffer(contactsKernel, "collisionMaterialIndices", solver.collisionMaterialIndexBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(contactsKernel, "levelPopulation", levelPopulation);
+
+            gridShader.SetBuffer(contactsKernel, "solverToWorld", solver.solverToWorldBuffer);
+            gridShader.SetBuffer(contactsKernel, "worldToSolver", solver.worldToSolverBuffer);
+            gridShader.SetBuffer(contactsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(contactsKernel, "unsortedContactPairs", unsortedContactPairs);
+            gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.Dispatch(contactsKernel, particleThreadGroups, 1, 1);
+
+            gridShader.SetBuffer(prefixSumPairsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(prefixSumPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+            gridShader.SetBuffer(prefixSumPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.Dispatch(prefixSumPairsKernel, 1, 1, 1);
+
+            gridShader.SetBuffer(sortPairsKernel, "shapes", shapes);
+            gridShader.SetBuffer(sortPairsKernel, "unsortedContactPairs", unsortedContactPairs);
+            gridShader.SetBuffer(sortPairsKernel, "contactPairs", contactPairs);
+            gridShader.SetBuffer(sortPairsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(sortPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+            gridShader.SetBuffer(sortPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.DispatchIndirect(sortPairsKernel, dispatchBuffer, 16);
+
+            boxes.GetResults(solver, this, transforms, shapes, results);
+            spheres.GetResults(solver, this, transforms, shapes, results);
+            rays.GetResults(solver, this, transforms, shapes, results);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta
new file mode 100644
index 00000000..6edfb437
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta
@@ -0,0 +1,11 @@
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+guid: 01c4905e2f6964e7b91a3262bbd54229
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs
new file mode 100644
index 00000000..4ca52c2c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs
@@ -0,0 +1,17 @@
+namespace Obi
+{
+    public class ComputeBackend : IObiBackend
+    {
+        #region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new ComputeSolverImpl(solver);
+        }
+        public void DestroySolver(ISolverImpl  solver)
+        {
+            if (solver != null)
+                solver.Destroy();
+        }
+        #endregion
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta
new file mode 100644
index 00000000..af17c5d5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta
@@ -0,0 +1,11 @@
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs
new file mode 100644
index 00000000..e6029290
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs
@@ -0,0 +1,15 @@
+using System;
+
+namespace Obi
+{
+    public class ComputeJobHandle : IObiJobHandle
+    {
+        public void Complete()
+        {
+        }
+
+        public void Release()
+        {
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta
new file mode 100644
index 00000000..0b145fa5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4dc5d7005f3f2458bbdc5c1756153cac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs
new file mode 100644
index 00000000..7ec820cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs
@@ -0,0 +1,16 @@
+
+namespace Obi
+{
+    public static class ComputeMath
+    {
+        public static int ThreadGroupCount(int elements, int numThreads)
+        {
+            return elements / numThreads + 1;
+        }
+
+        public static int NextMultiple(int baseNumber, int number)
+        {
+            return ((baseNumber / number) + 1) * number;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta
new file mode 100644
index 00000000..62890efd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d0df3a211b1614ebbb0f5144e868546e
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta
new file mode 100644
index 00000000..d57b2cf1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta
new file mode 100644
index 00000000..78335751
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5b92b6684fbd249cd9732bf9b3303e03
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs
new file mode 100644
index 00000000..9d3c6b7e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs
@@ -0,0 +1,30 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeAerodynamicConstraints : ComputeConstraintsImpl<ComputeAerodynamicConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+
+        public ComputeAerodynamicConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Aerodynamics)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/AerodynamicConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeAerodynamicConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeAerodynamicConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta
new file mode 100644
index 00000000..ec3d6752
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5bb44136361b4a2d948bf85825e53b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs
new file mode 100644
index 00000000..b2ed627b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs
@@ -0,0 +1,52 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeAerodynamicConstraintsBatch : ComputeConstraintsBatchImpl, IAerodynamicConstraintsBatchImpl
+    {
+        GraphicsBuffer aerodynamicCoeffs;
+
+        public ComputeAerodynamicConstraintsBatch(ComputeAerodynamicConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Aerodynamics;
+        }
+
+        public void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.aerodynamicCoeffs = aerodynamicCoeffs.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeAerodynamicConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeAerodynamicConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "aerodynamicCoeffs", aerodynamicCoeffs);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "normals", solverImplementation.normalsIntBuffer);
+                shader.SetBuffer(projectKernel, "wind", solverImplementation.windBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "velocities", solverImplementation.velocitiesBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 00000000..d19b18bc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 84f8c85144ba84d59bdf603d907ae5fb
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta
new file mode 100644
index 00000000..d595c99f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d16c953a082614e88bd02d0f99035c3a
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs
new file mode 100644
index 00000000..29de0b6f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendConstraints : ComputeConstraintsImpl<ComputeBendConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeBendConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Bending)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BendConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeBendConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeBendConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta
new file mode 100644
index 00000000..cca00768
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ac9c52f073f794c47a6cbb7b41cf023c
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs
new file mode 100644
index 00000000..7c0f7da7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs
@@ -0,0 +1,75 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendConstraintsBatch : ComputeConstraintsBatchImpl, IBendConstraintsBatchImpl
+    {
+        GraphicsBuffer restBends;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeBendConstraintsBatch(ComputeBendConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Bending;
+        }
+
+        public void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.restBends = restBends.AsComputeBuffer<float>();
+            this.stiffnesses = bendingStiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeBendConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeBendConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "restBends", restBends);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float deltaTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeBendConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeBendConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta
new file mode 100644
index 00000000..3c5bc0d6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 49d201b7a15f44e17b27019b972e9844
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta
new file mode 100644
index 00000000..230c84ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 253f34729aa7d4bbabe8eca30fdb88af
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs
new file mode 100644
index 00000000..3d51f946
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendTwistConstraints : ComputeConstraintsImpl<ComputeBendTwistConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeBendTwistConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.BendTwist)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BendTwistConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeBendTwistConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeBendTwistConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta
new file mode 100644
index 00000000..1ca86042
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 442edc2bc0aec4bf181b4332f0c8dd46
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs
new file mode 100644
index 00000000..3efed6f5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs
@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendTwistConstraintsBatch : ComputeConstraintsBatchImpl, IBendTwistConstraintsBatchImpl
+    {
+        GraphicsBuffer orientationIndices;
+        GraphicsBuffer restDarboux;
+        GraphicsBuffer stiffnesses;
+        GraphicsBuffer plasticity;
+
+        public ComputeBendTwistConstraintsBatch(ComputeBendTwistConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.BendTwist;
+        }
+
+        public void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restDarboux, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.orientationIndices = orientationIndices.AsComputeBuffer<int>();
+            this.restDarboux = restDarboux.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector3>();
+            this.plasticity = plasticity.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeBendTwistConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeBendTwistConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(projectKernel, "restDarboux", restDarboux);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "plasticity", plasticity);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeBendTwistConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeBendTwistConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 00000000..10707e48
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta
new file mode 100644
index 00000000..e9b29a82
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 06d157d45e7fd46f08b501d67d3d632b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs
new file mode 100644
index 00000000..35411219
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeChainConstraints : ComputeConstraintsImpl<ComputeChainConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeChainConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ChainConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeChainConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeChainConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta
new file mode 100644
index 00000000..92334258
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c28cd2bd740f4bebb4c8559b395ed0e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs
new file mode 100644
index 00000000..2009f6ac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs
@@ -0,0 +1,97 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeChainConstraintsBatch : ComputeConstraintsBatchImpl, IChainConstraintsBatchImpl
+    {
+        GraphicsBuffer firstIndex;
+        GraphicsBuffer numIndices;
+        GraphicsBuffer restLengths;
+
+        GraphicsBuffer ni;
+        GraphicsBuffer diagonals;
+
+        public ComputeChainConstraintsBatch(ComputeChainConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Chain;
+        }
+
+        public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndex, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.firstIndex = firstIndex.AsComputeBuffer<int>();
+            this.numIndices = numIndex.AsComputeBuffer<int>();
+            this.restLengths = restLengths.AsComputeBuffer<Vector2>();
+
+            int numEdges = 0;
+            for (int i = 0; i < numIndex.count; ++i)
+                numEdges += numIndex[i] - 1;
+
+            ni = new GraphicsBuffer(GraphicsBuffer.Target.Structured, numEdges, 16);
+            diagonals = new GraphicsBuffer(GraphicsBuffer.Target.Structured, numEdges, 12);
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            ni.Dispose();
+            diagonals.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeChainConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeChainConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "firstIndex", firstIndex);
+                shader.SetBuffer(projectKernel, "numIndices", numIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengths);
+
+                shader.SetBuffer(projectKernel, "ni", ni);
+                shader.SetBuffer(projectKernel, "diagonals", diagonals);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeChainConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeChainConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "firstIndex", firstIndex);
+                shader.SetBuffer(applyKernel, "numIndices", numIndices);
+
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta
new file mode 100644
index 00000000..e659564b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5d067c1d8b1e94c51bbb85f0f81754ad
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta
new file mode 100644
index 00000000..2da8691e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ff5938de5299c42278caf6e3181426ed
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs
new file mode 100644
index 00000000..9b0515e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs
@@ -0,0 +1,36 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderCollisionConstraints : ComputeConstraintsImpl<ComputeColliderCollisionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int clearKernel;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeColliderCollisionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderCollisionConstraints"));
+            clearKernel = constraintsShader.FindKernel("Clear");
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeColliderCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeColliderCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta
new file mode 100644
index 00000000..9aa02e50
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1a86d11bb25f6409a95e22186e98474c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs
new file mode 100644
index 00000000..04bee228
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs
@@ -0,0 +1,126 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+
+        public ComputeColliderCollisionConstraintsBatch(ComputeColliderCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Collision;
+        }
+
+        public override void Initialize(float substepTime)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+                int initializeKernel = ((ComputeColliderCollisionConstraints)m_Constraints).initializeKernel;
+                int clearKernel = ((ComputeColliderCollisionConstraints)m_Constraints).clearKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(clearKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(clearKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+
+                shader.SetBuffer(initializeKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(initializeKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
+                shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer); 
+                shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(initializeKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(initializeKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(clearKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.DispatchIndirect(initializeKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeColliderCollisionConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", this.solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+                shader.SetFloat("maxDepenetration", solverAbstraction.parameters.maxDepenetration);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeColliderCollisionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..aea17db9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d33af332861d148229253e82497aa0df
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs
new file mode 100644
index 00000000..1aeff401
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderFrictionConstraints : ComputeConstraintsImpl<ComputeColliderFrictionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeColliderFrictionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderFrictionConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeColliderFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeColliderFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta
new file mode 100644
index 00000000..5bf1233a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b15312c6313124df298754c7654b62bc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs
new file mode 100644
index 00000000..a144d81e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs
@@ -0,0 +1,86 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderFrictionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+
+        public ComputeColliderFrictionConstraintsBatch(ComputeColliderFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Friction;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeColliderFrictionConstraints)m_Constraints).projectKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "solverToWorld", solverImplementation.solverToWorldBuffer);
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeColliderFrictionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "RW_orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..2950234a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 24cfbad987ca74ec696ec132558f6103
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs
new file mode 100644
index 00000000..dee457fe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs
@@ -0,0 +1,82 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public abstract class ComputeConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        protected IComputeConstraintsImpl m_Constraints;
+        protected Oni.ConstraintType m_ConstraintType;
+
+        protected bool m_Enabled = true;
+        protected int m_ConstraintCount = 0;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public bool enabled
+        {
+            set
+            {
+                if (m_Enabled != value)
+                    m_Enabled = value;
+            }
+            get { return m_Enabled; }
+        }
+
+        public IConstraints constraints
+        {
+            get { return m_Constraints; }
+        }
+
+        public ObiSolver solverAbstraction
+        {
+            get { return ((ComputeSolverImpl)m_Constraints.solver).abstraction; }
+        }
+
+        public ComputeSolverImpl solverImplementation
+        {
+            get { return (ComputeSolverImpl)m_Constraints.solver; }
+        }
+
+        protected GraphicsBuffer particleIndices;
+        protected GraphicsBuffer lambdas;
+
+        protected ObiNativeFloatList lambdasList;
+
+        public virtual void Initialize(float substepTime)
+        {
+            if (lambdasList != null)
+            {
+                lambdasList.WipeToZero();
+                lambdasList.Upload();
+            }
+        }
+
+        // implemented by concrete constraint subclasses.
+        public abstract void Evaluate(float stepTime, float substepTime, int steps, float timeLeft);
+        public abstract void Apply(float substepTime);
+
+        public ComputeConstraintsBatchImpl() { }
+
+        public virtual void Destroy()
+        {
+            // clean resources allocated by the batch, no need for a default implementation.
+        }
+
+        public void SetDependency(IConstraintsBatchImpl batch)
+        {
+            // no need to implement.
+        }
+
+        public void SetConstraintCount(int constraintCount)
+        {
+            m_ConstraintCount = constraintCount;
+        }
+        public int GetConstraintCount()
+        {
+            return m_ConstraintCount;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..d6da30fd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 01e582f7ad8544beca43dac2f3af8b37
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs
new file mode 100644
index 00000000..ccc18165
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs
@@ -0,0 +1,126 @@
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IComputeConstraintsImpl : IConstraints
+    {
+        void Initialize(float substepTime);
+        void Project(float stepTime, float substepTime, int substeps, float timeLeft);
+        void Dispose();
+
+        IConstraintsBatchImpl CreateConstraintsBatch();
+        void RemoveBatch(IConstraintsBatchImpl batch);
+    }
+
+    public abstract class ComputeConstraintsImpl<T> : IComputeConstraintsImpl where T : ComputeConstraintsBatchImpl
+    {
+        protected ComputeSolverImpl m_Solver;
+        public List<T> batches = new List<T>();
+
+        protected Oni.ConstraintType m_ConstraintType;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public ISolverImpl solver
+        {
+            get { return m_Solver; }
+        }
+
+        public ComputeConstraintsImpl(ComputeSolverImpl solver, Oni.ConstraintType constraintType)
+        {
+            this.m_ConstraintType = constraintType;
+            this.m_Solver = solver;
+        }
+
+        public virtual void Dispose()
+        {
+
+        }
+
+        public abstract IConstraintsBatchImpl CreateConstraintsBatch();
+
+        public abstract void RemoveBatch(IConstraintsBatchImpl batch);
+
+        public virtual int GetConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.GetConstraintCount();
+
+            return count;
+        }
+
+        public void Initialize(float substepTime)
+        {
+            // initialize all batches in parallel:
+            if (batches.Count > 0)
+            {
+                for (int i = 0; i < batches.Count; ++i)
+                    if (batches[i].enabled) batches[i].Initialize(substepTime);
+            }
+
+        }
+
+        public void Project(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            UnityEngine.Profiling.Profiler.BeginSample("Project");
+
+            var parameters = m_Solver.abstraction.GetConstraintParameters(m_ConstraintType);
+
+            switch(parameters.evaluationOrder)
+            {
+                case Oni.ConstraintParameters.EvaluationOrder.Sequential:
+                    EvaluateSequential(stepTime, substepTime, substeps, timeLeft);
+                break;
+
+                case Oni.ConstraintParameters.EvaluationOrder.Parallel:
+                    EvaluateParallel(stepTime, substepTime, substeps, timeLeft);
+                break;
+            }
+
+            UnityEngine.Profiling.Profiler.EndSample();
+            
+        }
+
+        protected virtual void EvaluateSequential(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            // evaluate and apply all batches:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    batches[i].Evaluate(stepTime, substepTime, substeps, timeLeft);
+                    batches[i].Apply(substepTime);
+                }
+            }
+        }
+
+        protected virtual void EvaluateParallel(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            // evaluate all batches:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    batches[i].Evaluate(stepTime, substepTime, substeps, timeLeft);
+                }
+
+            // then apply them:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    batches[i].Apply(substepTime);
+                }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta
new file mode 100644
index 00000000..f703dbeb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 36bc3e2333033489782d3f9f7781f967
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta
new file mode 100644
index 00000000..afcb3329
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e6f9b81a4e3934d66a7268e686756750
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs
new file mode 100644
index 00000000..8960367f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs
@@ -0,0 +1,151 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDensityConstraints : ComputeConstraintsImpl<ComputeDensityConstraintsBatch>
+    {
+        public ComputeShader sortParticlesShader;
+        public int sortDataKernel;
+
+        public ComputeShader constraintsShader;
+        public int updateDensitiesKernel;
+        public int applyKernel;
+        public int applyPositionDeltaKernel;
+        public int applyAtmosphereKernel;
+
+        public int accumSmoothPositionsKernel;
+        public int accumAnisotropyKernel;
+        public int averageAnisotropyKernel;
+
+        public ComputeDensityConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Density)
+        {
+            sortParticlesShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SortParticleData"));
+            sortDataKernel = sortParticlesShader.FindKernel("SortData");
+
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DensityConstraints"));
+            updateDensitiesKernel = constraintsShader.FindKernel("UpdateDensities");
+            applyKernel = constraintsShader.FindKernel("Apply");
+            applyPositionDeltaKernel = constraintsShader.FindKernel("ApplyPositionDeltas");
+            applyAtmosphereKernel = constraintsShader.FindKernel("ApplyAtmosphere");
+
+            accumSmoothPositionsKernel = constraintsShader.FindKernel("AccumulateSmoothPositions");
+            accumAnisotropyKernel = constraintsShader.FindKernel("AccumulateAnisotropy");
+            averageAnisotropyKernel = constraintsShader.FindKernel("AverageAnisotropy");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeDensityConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeDensityConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void CopyDataInSortedOrder(bool renderable = false)
+        {
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+
+            if (renderable)
+            {
+                sortParticlesShader.SetBuffer(sortDataKernel, "positions", m_Solver.renderablePositionsBuffer);
+                sortParticlesShader.SetBuffer(sortDataKernel, "principalRadii", m_Solver.renderableRadiiBuffer);
+            }
+            else
+            {
+                sortParticlesShader.SetBuffer(sortDataKernel, "positions", m_Solver.positionsBuffer);
+                sortParticlesShader.SetBuffer(sortDataKernel, "principalRadii", m_Solver.principalRadiiBuffer);
+            }
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "prevPositions", m_Solver.prevPositionsBuffer);
+            sortParticlesShader.SetBuffer(sortDataKernel, "userData", m_Solver.userDataBuffer);
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPositions", m_Solver.particleGrid.sortedPositions);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPrevPositions", m_Solver.particleGrid.sortedPrevPosOrientations);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedUserData", m_Solver.particleGrid.sortedUserDataColor);
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+            sortParticlesShader.DispatchIndirect(sortDataKernel, m_Solver.fluidDispatchBuffer);
+        }
+
+        public void ApplyVelocityCorrections(float deltaTime)
+        {
+            if (m_Solver.particleGrid.sortedFluidIndices != null && m_Solver.cellCoordsBuffer != null)
+            {
+                constraintsShader.SetFloat("deltaTime", deltaTime);
+
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "invMasses", m_Solver.invMassesBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "velocities", m_Solver.velocitiesBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "wind", m_Solver.windBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "normals", m_Solver.normalsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "userData", m_Solver.userDataBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedPositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedFluidInterface", m_Solver.particleGrid.sortedFluidInterface);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedUserData", m_Solver.particleGrid.sortedUserDataColor);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "fluidData", m_Solver.fluidDataBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+
+                constraintsShader.DispatchIndirect(applyAtmosphereKernel, m_Solver.fluidDispatchBuffer);
+
+            }
+        }
+
+        public void CalculateAnisotropyLaplacianSmoothing()
+        {
+            int pcount = ((ComputeSolverImpl)solver).particleCount;
+            if (pcount > 0 && m_Solver.particleGrid.sortedFluidIndices != null && m_Solver.cellCoordsBuffer != null)
+            {
+                if (m_Solver.abstraction.parameters.maxAnisotropy <= 1)
+                    return;
+
+                constraintsShader.SetFloat("maxAnisotropy", m_Solver.abstraction.parameters.maxAnisotropy);
+                constraintsShader.SetInt("simplexCount", m_Solver.simplexCounts.simplexCount);
+
+                // copy render data (renderablePositions / radii) in sorted order:
+                CopyDataInSortedOrder(true);
+
+                // accumulate smoothed positions:
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "renderablePositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.DispatchIndirect(accumSmoothPositionsKernel, m_Solver.fluidDispatchBuffer);
+
+                // accumulate anisotropy:
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "renderablePositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.DispatchIndirect(accumAnisotropyKernel, m_Solver.fluidDispatchBuffer);
+
+                // average anisotropies:
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderablePositions", m_Solver.renderablePositionsBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderableOrientations", m_Solver.renderableOrientationsBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderableRadii", m_Solver.renderableRadiiBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "fluidData", m_Solver.fluidDataBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.DispatchIndirect(averageAnisotropyKernel, m_Solver.fluidDispatchBuffer);
+            }
+
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta
new file mode 100644
index 00000000..181e12e4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8e1927f3839c94d8e806b2ba446e2797
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs
new file mode 100644
index 00000000..bc5673a6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs
@@ -0,0 +1,94 @@
+
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDensityConstraintsBatch : ComputeConstraintsBatchImpl, IDensityConstraintsBatchImpl
+    {
+
+        public ComputeDensityConstraintsBatch(ComputeDensityConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Density;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverImplementation.particleGrid.sortedFluidIndices != null && solverImplementation.cellCoordsBuffer != null)
+            {
+                var shader = ((ComputeDensityConstraints)m_Constraints).constraintsShader;
+                int densitiesKernel = ((ComputeDensityConstraints)m_Constraints).updateDensitiesKernel;
+
+                // Need to do this at least every simulation step, since fluid meshing reuses sorted arrays. 
+                ((ComputeDensityConstraints)m_Constraints).CopyDataInSortedOrder();
+
+                shader.SetInt("maxNeighbors", solverImplementation.particleGrid.maxParticleNeighbors);
+                shader.SetInt("mode", (int)solverImplementation.abstraction.parameters.mode);
+                shader.SetFloat("deltaTime", substepTime);
+
+                // calculate densities:
+                shader.SetBuffer(densitiesKernel, "neighborCounts", this.solverImplementation.particleGrid.neighborCounts);
+                shader.SetBuffer(densitiesKernel, "neighbors", this.solverImplementation.particleGrid.neighbors);
+
+                shader.SetBuffer(densitiesKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(densitiesKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidDataVel);
+                shader.SetBuffer(densitiesKernel, "sortedPositions", solverImplementation.particleGrid.sortedPositions);
+                shader.SetBuffer(densitiesKernel, "sortedPrevPositions", solverImplementation.particleGrid.sortedPrevPosOrientations);
+                shader.SetBuffer(densitiesKernel, "sortedFluidMaterials", solverImplementation.particleGrid.sortedFluidMaterials);
+                shader.SetBuffer(densitiesKernel, "sortedPrincipalRadii", solverImplementation.particleGrid.sortedPrincipalRadii);
+                shader.SetBuffer(densitiesKernel, "renderableOrientations", solverImplementation.anisotropiesBuffer);//solverImplementation.renderableOrientationsBuffer); 
+                shader.SetBuffer(densitiesKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(densitiesKernel, "massCenters", solverImplementation.normalsBuffer);
+                shader.SetBuffer(densitiesKernel, "prevMassCenters", solverImplementation.renderablePositionsBuffer);
+                shader.SetBuffer(densitiesKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(densitiesKernel, solverImplementation.fluidDispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (solverImplementation.particleGrid.sortedFluidIndices != null && solverImplementation.cellCoordsBuffer != null)
+            {
+                var shader = ((ComputeDensityConstraints)m_Constraints).constraintsShader;
+                var applyPositionDeltaKernel = ((ComputeDensityConstraints)m_Constraints).applyPositionDeltaKernel;
+                var applyKernel = ((ComputeDensityConstraints)m_Constraints).applyKernel;
+
+                // calculate deltas:
+                shader.SetBuffer(applyKernel, "neighborCounts", this.solverImplementation.particleGrid.neighborCounts);
+                shader.SetBuffer(applyKernel, "neighbors", this.solverImplementation.particleGrid.neighbors);
+
+                shader.SetBuffer(applyKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(applyKernel, "sortedPositions", solverImplementation.particleGrid.sortedPositions);
+                shader.SetBuffer(applyKernel, "sortedPrevPositions", solverImplementation.particleGrid.sortedPrevPosOrientations);
+                shader.SetBuffer(applyKernel, "sortedFluidMaterials", solverImplementation.particleGrid.sortedFluidMaterials);
+                shader.SetBuffer(applyKernel, "sortedPrincipalRadii", solverImplementation.particleGrid.sortedPrincipalRadii);
+                shader.SetBuffer(applyKernel, "renderableOrientations", solverImplementation.anisotropiesBuffer);//solverImplementation.renderableOrientationsBuffer);
+                shader.SetBuffer(applyKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(applyKernel, "massCenters", solverImplementation.normalsBuffer);
+                shader.SetBuffer(applyKernel, "prevMassCenters", solverImplementation.renderablePositionsBuffer);
+                shader.SetBuffer(applyKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidDataVel);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "sortedToOriginal", solverImplementation.particleGrid.sortedFluidIndices);
+                shader.SetBuffer(applyKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(applyKernel, solverImplementation.fluidDispatchBuffer);
+
+                // apply position deltas
+                shader.SetBuffer(applyPositionDeltaKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "renderableOrientations", solverImplementation.anisotropiesBuffer);//solverImplementation.renderableOrientationsBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "fluidData", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidDataVel);
+                shader.SetBuffer(applyPositionDeltaKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "sortedToOriginal", solverImplementation.particleGrid.sortedFluidIndices);
+                shader.SetBuffer(applyPositionDeltaKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(applyPositionDeltaKernel, solverImplementation.fluidDispatchBuffer);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta
new file mode 100644
index 00000000..14470864
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 277bb45dfcd314cdd8e9d917bcc05955
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta
new file mode 100644
index 00000000..6db3da33
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: beca9bcaa99b64d8188c2ac127314259
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs
new file mode 100644
index 00000000..50c2ab4c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs
@@ -0,0 +1,44 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceConstraints : ComputeConstraintsImpl<ComputeDistanceConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeDistanceConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DistanceConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeDistanceConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeDistanceConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach (var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta
new file mode 100644
index 00000000..8a98a0c3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c56c65d479be44432ba437d871d4892d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs
new file mode 100644
index 00000000..0982c29b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs
@@ -0,0 +1,85 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceConstraintsBatch : ComputeConstraintsBatchImpl, IDistanceConstraintsBatchImpl
+    {
+
+        GraphicsBuffer restLengthsBuffer;
+        GraphicsBuffer stiffnessesBuffer;
+
+        public ComputeDistanceConstraintsBatch(ComputeDistanceConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Distance;
+        }
+
+        public void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.restLengthsBuffer = restLengths.AsComputeBuffer<float>();
+            this.stiffnessesBuffer = stiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeDistanceConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeDistanceConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengthsBuffer);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnessesBuffer);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float deltaTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeDistanceConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeDistanceConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void RequestDataReadback()
+        {
+            lambdasList.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            lambdasList.WaitForReadback();
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta
new file mode 100644
index 00000000..19d57d42
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e197e97b0c8b94a84bce0a448e62e5fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta
new file mode 100644
index 00000000..3ee25521
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: da310e9f3c6a84350b6e00bda41d8a90
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs
new file mode 100644
index 00000000..9c3d62d6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs
@@ -0,0 +1,34 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleCollisionConstraints : ComputeConstraintsImpl<ComputeParticleCollisionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeParticleCollisionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleCollision)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleCollisionConstraints"));
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeParticleCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeParticleCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta
new file mode 100644
index 00000000..3049cbd7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0039bc61ce4bc4aaa952b7bf1463c8b5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs
new file mode 100644
index 00000000..dc7edfa0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs
@@ -0,0 +1,104 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+
+        public ComputeParticleCollisionConstraintsBatch(ComputeParticleCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleCollision;
+        }
+
+        public override void Initialize(float substepTime)
+        {
+            var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+            int initializeKernel = ((ComputeParticleCollisionConstraints)m_Constraints).initializeKernel;
+
+            if (solverImplementation.simplexCounts.simplexCount > 0)
+            {
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+                shader.SetFloat("shockPropagation", solverAbstraction.parameters.shockPropagation);
+                shader.SetVector("gravity", solverAbstraction.parameters.gravity);
+
+                shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(initializeKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.particleGrid.dispatchBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
+                shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetFloat("deltaTime", substepTime);
+
+                shader.DispatchIndirect(initializeKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            //if (m_ConstraintCount > 0)
+
+            if (solverImplementation.simplexCounts.simplexCount > 0)
+            {
+                var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeParticleCollisionConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.particleGrid.dispatchBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetFloat("deltaTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+
+            }
+
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeParticleCollisionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..5075a575
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 425e2aa73a5f746039203ce1c0ac3a00
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs
new file mode 100644
index 00000000..aaec1e79
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleFrictionConstraints : ComputeConstraintsImpl<ComputeParticleFrictionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeParticleFrictionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleFriction)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleFrictionConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeParticleFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeParticleFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta
new file mode 100644
index 00000000..7ca80b7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 41b95f7aa768148b38a09f35bee8efce
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs
new file mode 100644
index 00000000..64743ef6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs
@@ -0,0 +1,79 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleFrictionConstraintsBatch : ComputeConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+
+        public ComputeParticleFrictionConstraintsBatch(ComputeParticleFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleFriction;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            //if (m_ConstraintCount > 0)
+            if (solverImplementation.simplexCounts.simplexCount > 0 && solverImplementation.activeParticleCount > 0)
+            {
+                var shader = ((ComputeParticleFrictionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeParticleFrictionConstraints)m_Constraints).projectKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(projectKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", solverImplementation.particleGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+            }
+
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeParticleFrictionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeParticleFrictionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta
new file mode 100644
index 00000000..214b031d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 12275bbeff9604bb393a365d8442161a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta
new file mode 100644
index 00000000..c21a5f4f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b03d5abd353fb4064bf5677d949196a1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs
new file mode 100644
index 00000000..79955762
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs
@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinConstraints : ComputeConstraintsImpl<ComputePinConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int clearKernel;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputePinConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Pin)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/PinConstraints"));
+            clearKernel = constraintsShader.FindKernel("Clear");
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputePinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputePinConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach (var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta
new file mode 100644
index 00000000..5f50419c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0fcd123efb9af486783fa2eca750d731
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs
new file mode 100644
index 00000000..e4688210
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs
@@ -0,0 +1,140 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinConstraintsBatch : ComputeConstraintsBatchImpl, IPinConstraintsBatchImpl
+    {
+        GraphicsBuffer colliderIndices;
+        GraphicsBuffer offsets;
+        GraphicsBuffer restDarboux;
+        GraphicsBuffer stiffnesses;
+
+        public ComputePinConstraintsBatch(ComputePinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Pin;
+        }
+
+        public void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.colliderIndices = colliderIndices.AsComputeBuffer<int>();
+            this.offsets = offsets.AsComputeBuffer<Vector4>();
+            this.restDarboux = restDarbouxVectors.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<Vector4>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Initialize(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int clearKernel = ((ComputePinConstraints)m_Constraints).clearKernel;
+                int initializeKernel = ((ComputePinConstraints)m_Constraints).initializeKernel;
+
+                shader.SetBuffer(clearKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(initializeKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(clearKernel, threadGroups, 1, 1);
+                shader.Dispatch(initializeKernel, threadGroups, 1, 1);
+            }
+
+            // clear lambdas:
+            base.Initialize(substepTime);
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputePinConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(projectKernel, "offsets", offsets);
+                shader.SetBuffer(projectKernel, "restDarboux", restDarboux);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputePinConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetBuffer(applyKernel, "RW_orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void RequestDataReadback()
+        {
+            lambdasList.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            lambdasList.WaitForReadback();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..365b01ba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bf8b3fc4b0e8f4ab3ab1f4418e053a8f
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta
new file mode 100644
index 00000000..ac46a10b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 21c4f0318a4dd4112aeb7065a1251e2a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs
new file mode 100644
index 00000000..87856a1a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs
@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeShapeMatchingConstraints : ComputeConstraintsImpl<ComputeShapeMatchingConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int plasticityKernel;
+        public int restStateKernel;
+        public int applyKernel;
+
+        public ComputeShapeMatchingConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ShapeMatching)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ShapeMatchingConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            plasticityKernel = constraintsShader.FindKernel("PlasticDeformation");
+            restStateKernel = constraintsShader.FindKernel("CalculateRestShapeMatching");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeShapeMatchingConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeShapeMatchingConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach(var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta
new file mode 100644
index 00000000..c6df3eeb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f2c02ccc8463d4650b854a7a374ac0d3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs
new file mode 100644
index 00000000..ae553420
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,204 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeShapeMatchingConstraintsBatch : ComputeConstraintsBatchImpl, IShapeMatchingConstraintsBatchImpl
+    {
+        private GraphicsBuffer firstIndexBuffer;
+        private GraphicsBuffer numIndicesBuffer;
+        private GraphicsBuffer explicitGroupBuffer;
+        private GraphicsBuffer shapeMaterialParametersBuffer;
+        private GraphicsBuffer restComsBuffer;
+        private GraphicsBuffer comsBuffer;
+        private GraphicsBuffer constraintOrientationsBuffer;
+
+        private GraphicsBuffer AqqBuffer;
+        private GraphicsBuffer linearTransformsBuffer;
+        private GraphicsBuffer plasticDeformationsBuffer;
+
+        private ObiNativeVector4List m_RestComs;
+        private ObiNativeVector4List m_Coms;
+        private ObiNativeQuaternionList m_ConstraintOrientations;
+
+        private bool m_RecalculateRestShape = false;
+        public ComputeShapeMatchingConstraintsBatch(ComputeShapeMatchingConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ShapeMatching;
+        }
+
+        public void SetShapeMatchingConstraints(ObiNativeIntList particleIndices,
+                                         ObiNativeIntList firstIndex,
+                                         ObiNativeIntList numIndices,
+                                         ObiNativeIntList explicitGroup,
+                                         ObiNativeFloatList shapeMaterialParameters,
+                                         ObiNativeVector4List restComs,
+                                         ObiNativeVector4List coms,
+                                         ObiNativeQuaternionList constraintOrientations,
+                                         ObiNativeMatrix4x4List linearTransforms,
+                                         ObiNativeMatrix4x4List plasticDeformations,
+                                         ObiNativeFloatList lambdas,
+                                         int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.firstIndexBuffer = firstIndex.AsComputeBuffer<int>();
+            this.numIndicesBuffer = numIndices.AsComputeBuffer<int>();
+            this.explicitGroupBuffer = explicitGroup.AsComputeBuffer<int>();
+            this.shapeMaterialParametersBuffer = shapeMaterialParameters.AsComputeBuffer<float>();
+            this.restComsBuffer = restComs.AsComputeBuffer<Vector4>();
+            this.comsBuffer = coms.AsComputeBuffer<Vector4>();
+            this.constraintOrientationsBuffer = constraintOrientations.AsComputeBuffer<Quaternion>();
+            this.linearTransformsBuffer = linearTransforms.AsComputeBuffer<Matrix4x4>();
+            this.plasticDeformationsBuffer = plasticDeformations.AsComputeBuffer<Matrix4x4>();
+
+            if (AqqBuffer != null)
+                AqqBuffer.Dispose();
+
+            AqqBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 64); // float4x4
+
+            m_RestComs = restComs;
+            m_Coms = coms;
+            m_ConstraintOrientations = constraintOrientations;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            if (AqqBuffer != null)
+                AqqBuffer.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                if (m_RecalculateRestShape)
+                {
+                    m_RecalculateRestShape = false;
+
+                    int restKernel = ((ComputeShapeMatchingConstraints)m_Constraints).restStateKernel;
+
+                    shader.SetBuffer(restKernel, "particleIndices", particleIndices);
+                    shader.SetBuffer(restKernel, "firstIndex", firstIndexBuffer);
+                    shader.SetBuffer(restKernel, "numIndices", numIndicesBuffer);
+                    shader.SetBuffer(restKernel, "RW_restComs", restComsBuffer);
+
+                    shader.SetBuffer(restKernel, "RW_Aqq", AqqBuffer);
+                    shader.SetBuffer(restKernel, "RW_deformation", plasticDeformationsBuffer);
+
+                    shader.SetBuffer(restKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                    shader.SetBuffer(restKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                    shader.SetBuffer(restKernel, "invMasses", solverImplementation.invMassesBuffer);
+                    shader.SetBuffer(restKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                    shader.SetBuffer(restKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+
+                    shader.Dispatch(restKernel, threadGroups, 1, 1);
+
+                    m_RestComs.Readback();
+                    m_RestComs.WaitForReadback();
+                }
+
+                //var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeShapeMatchingConstraints)m_Constraints).projectKernel;
+                int plasticityKernel = ((ComputeShapeMatchingConstraints)m_Constraints).plasticityKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(projectKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(projectKernel, "explicitGroup", explicitGroupBuffer);
+                shader.SetBuffer(projectKernel, "shapeMaterialParameters", shapeMaterialParametersBuffer);
+
+                shader.SetBuffer(projectKernel, "restComs", restComsBuffer);
+                shader.SetBuffer(projectKernel, "coms", comsBuffer);
+                shader.SetBuffer(projectKernel, "constraintOrientations", constraintOrientationsBuffer);
+
+                shader.SetBuffer(projectKernel, "Aqq", AqqBuffer);
+                shader.SetBuffer(projectKernel, "RW_linearTransforms", linearTransformsBuffer);
+                shader.SetBuffer(projectKernel, "deformation", plasticDeformationsBuffer);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+
+                shader.SetBuffer(plasticityKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(plasticityKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(plasticityKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(plasticityKernel, "shapeMaterialParameters", shapeMaterialParametersBuffer);
+
+                shader.SetBuffer(plasticityKernel, "RW_restComs", restComsBuffer);
+                shader.SetBuffer(plasticityKernel, "constraintOrientations", constraintOrientationsBuffer);
+
+                shader.SetBuffer(plasticityKernel, "RW_Aqq", AqqBuffer);
+                shader.SetBuffer(plasticityKernel, "linearTransforms", linearTransformsBuffer);
+                shader.SetBuffer(plasticityKernel, "RW_deformation", plasticDeformationsBuffer);
+
+                shader.SetBuffer(plasticityKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                shader.SetBuffer(plasticityKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                shader.SetBuffer(plasticityKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(plasticityKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(plasticityKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+
+                shader.Dispatch(plasticityKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeShapeMatchingConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(applyKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void CalculateRestShapeMatching()
+        {
+            // just set a flag and do the actual calculation at the start of Evaluate().
+            // This ensures GPu data of both particles and constraints is up to date when calculating the rest shape.
+            m_RecalculateRestShape = true;
+        }
+
+        public void RequestDataReadback()
+        {
+            m_Coms.Readback();
+            m_ConstraintOrientations.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            m_Coms.WaitForReadback();
+            m_ConstraintOrientations.WaitForReadback();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 00000000..82b0d2be
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: efcebc6a8ed1446fe8216d7656fe7462
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta
new file mode 100644
index 00000000..afbbedb2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e3f96b782e06d47d699bad2fbd4712e1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs
new file mode 100644
index 00000000..7a41a9a2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSkinConstraints : ComputeConstraintsImpl<ComputeSkinConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeSkinConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Skin)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SkinConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeSkinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeSkinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta
new file mode 100644
index 00000000..ffce2d87
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df84869cc78e04bb895be2db5e398cc3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs
new file mode 100644
index 00000000..53cf5e82
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs
@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSkinConstraintsBatch : ComputeConstraintsBatchImpl, ISkinConstraintsBatchImpl
+    {
+        GraphicsBuffer skinPoints;
+        GraphicsBuffer skinNormalsBuffer;
+        GraphicsBuffer skinRadiiBackstopBuffer;
+        GraphicsBuffer skinComplianceBuffer;
+
+        public ComputeSkinConstraintsBatch(ComputeSkinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Skin;
+        }
+
+        public void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.skinPoints = skinPoints.AsComputeBuffer<Vector4>();
+            this.skinNormalsBuffer = skinNormals.AsComputeBuffer<Vector4>();
+            this.skinRadiiBackstopBuffer = skinRadiiBackstop.AsComputeBuffer<float>();
+            this.skinComplianceBuffer = skinCompliance.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeSkinConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeSkinConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "skinPoints", skinPoints);
+                shader.SetBuffer(projectKernel, "skinNormals", skinNormalsBuffer);
+                shader.SetBuffer(projectKernel, "skinRadiiBackstop", skinRadiiBackstopBuffer);
+                shader.SetBuffer(projectKernel, "skinCompliance", skinComplianceBuffer);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeSkinConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeSkinConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..6a56a4f0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta
new file mode 100644
index 00000000..72b5b708
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8fd1b55deaf68449f9fc2f037f032b4c
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs
new file mode 100644
index 00000000..e5f48a8f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStitchConstraints : ComputeConstraintsImpl<ComputeStitchConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeStitchConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Stitch)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/StitchConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeStitchConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeStitchConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta
new file mode 100644
index 00000000..296677c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 35350420ce5c24323abc6770d4de9655
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs
new file mode 100644
index 00000000..ba09e511
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs
@@ -0,0 +1,71 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStitchConstraintsBatch : ComputeConstraintsBatchImpl, IStitchConstraintsBatchImpl
+    {
+        GraphicsBuffer stiffnesses;
+
+        public ComputeStitchConstraintsBatch(ComputeStitchConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Stitch;
+        }
+
+        public void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeStitchConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeStitchConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeStitchConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeStitchConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta
new file mode 100644
index 00000000..03b6837e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta
new file mode 100644
index 00000000..d29894d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta
@@ -0,0 +1,8 @@
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs
new file mode 100644
index 00000000..d5116e65
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStretchShearConstraints : ComputeConstraintsImpl<ComputeStretchShearConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeStretchShearConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.StretchShear)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/StretchShearConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeStretchShearConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeStretchShearConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta
new file mode 100644
index 00000000..e91936fa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: d7b820e9c187947bf8c31d04d72c402d
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs
new file mode 100644
index 00000000..99173315
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs
@@ -0,0 +1,91 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStretchShearConstraintsBatch : ComputeConstraintsBatchImpl, IStretchShearConstraintsBatchImpl
+    {
+        GraphicsBuffer orientationIndices;
+        GraphicsBuffer restLengths;
+        GraphicsBuffer restOrientations;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeStretchShearConstraintsBatch(ComputeStretchShearConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.StretchShear;
+        }
+
+        public void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.orientationIndices = orientationIndices.AsComputeBuffer<int>();
+            this.restLengths = restLengths.AsComputeBuffer<float>();
+            this.restOrientations = restOrientations.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector3>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeStretchShearConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeStretchShearConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengths);
+                shader.SetBuffer(projectKernel, "restOrientations", restOrientations);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeStretchShearConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeStretchShearConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta
new file mode 100644
index 00000000..062a0cfc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: f2d0b5dfba06143f5b0a9939a3a2364b
+MonoImporter:
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta
new file mode 100644
index 00000000..4c0427c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4ee9753d7b4f7422b9057618aa73476b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs
new file mode 100644
index 00000000..a1ddceef
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTetherConstraints : ComputeConstraintsImpl<ComputeTetherConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeTetherConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Tether)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/TetherConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeTetherConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeTetherConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta
new file mode 100644
index 00000000..f663b0e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 56470001140924abea4d2589db0863ec
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs
new file mode 100644
index 00000000..d482a917
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs
@@ -0,0 +1,75 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTetherConstraintsBatch : ComputeConstraintsBatchImpl, ITetherConstraintsBatchImpl
+    {
+        GraphicsBuffer maxLengthScale;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeTetherConstraintsBatch(ComputeTetherConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Tether;
+        }
+
+        public void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.maxLengthScale = maxLengthScale.AsComputeBuffer<Vector2>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeTetherConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeTetherConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "maxLengthScale", maxLengthScale);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeTetherConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeTetherConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta
new file mode 100644
index 00000000..93feeaa4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: b68d976ed2b5c48d191ee9d067a164de
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta
new file mode 100644
index 00000000..ef341e7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta
@@ -0,0 +1,8 @@
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+DefaultImporter:
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs
new file mode 100644
index 00000000..e673c5ed
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs
@@ -0,0 +1,40 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeVolumeConstraints : ComputeConstraintsImpl<ComputeVolumeConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int gradientsKernel;
+        public int volumeKernel;
+        public int denominatorsKernel;
+        public int constraintKernel;
+        public int deltasKernel;
+        public int applyKernel;
+
+        public ComputeVolumeConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Volume)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/VolumeConstraints"));
+            gradientsKernel = constraintsShader.FindKernel("Gradients");
+            volumeKernel = constraintsShader.FindKernel("CalculateVolume");
+            denominatorsKernel = constraintsShader.FindKernel("Denominators");
+            constraintKernel = constraintsShader.FindKernel("Constraint");
+            deltasKernel = constraintsShader.FindKernel("AccumulateDeltas");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeVolumeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeVolumeConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta
new file mode 100644
index 00000000..e01c6e26
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f2266fb2819d84335874a8110cdacb76
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs
new file mode 100644
index 00000000..8f7e9b5e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs
@@ -0,0 +1,223 @@
+using UnityEngine;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ComputeVolumeConstraintsBatch : ComputeConstraintsBatchImpl, IVolumeConstraintsBatchImpl
+    {
+        GraphicsBuffer firstTriangle;
+        GraphicsBuffer numTriangles;
+        GraphicsBuffer restVolumes;
+        GraphicsBuffer pressureStiffness;
+
+        GraphicsBuffer volumes;
+        GraphicsBuffer denominators;
+        GraphicsBuffer triangleConstraintIndex; // for each triangle, its constraint index.
+        GraphicsBuffer particles; // indices of particles involved in each constraint.
+        GraphicsBuffer particleConstraintIndex; // for each particle, its constraint index.
+
+        public ComputeVolumeConstraintsBatch(ComputeVolumeConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Volume;
+        }
+
+        public void SetVolumeConstraints(ObiNativeIntList triangles,
+                                          ObiNativeIntList firstTriangle,
+                                          ObiNativeIntList numTriangles,
+                                          ObiNativeFloatList restVolumes,
+                                          ObiNativeVector2List pressureStiffness,
+                                          ObiNativeFloatList lambdas,
+                                          int count)
+        {
+            // store volume and denominator per constraint:
+            volumes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 4);
+            denominators = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 4);
+
+
+            // get particles involved in each constraint:
+            List<int> partic = new List<int>();
+            List<int> partConstIndex = new List<int>();
+            List<int> triConstIndex = new List<int>();
+            for (int i = 0; i < numTriangles.count; ++i)
+            {
+                List<int> parts = new List<int>();
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int tri = firstTriangle[i] + j;
+
+                    parts.Add(triangles[tri * 3]);
+                    parts.Add(triangles[tri * 3+1]);
+                    parts.Add(triangles[tri * 3+2]);
+
+                    partConstIndex.Add(i);
+                    partConstIndex.Add(i);
+                    partConstIndex.Add(i);
+
+                    triConstIndex.Add(i);
+                }
+
+                // make them unique:
+                parts.Sort();
+                int resultIndex = parts.Unique((int x, int y) => { return x == y; });
+
+                // remove excess at the end of the list:
+                if (resultIndex < parts.Count)
+                {
+                    int removeCount = parts.Count - resultIndex;
+
+                    parts.RemoveRange(resultIndex, removeCount);
+                    partConstIndex.RemoveRange(partConstIndex.Count - removeCount, removeCount);
+                }
+
+                partic.AddRange(parts);
+            }
+
+            particles = new GraphicsBuffer(GraphicsBuffer.Target.Structured, partic.Count, 4);
+            particleConstraintIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, partConstIndex.Count, 4);
+            triangleConstraintIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, triConstIndex.Count, 4);
+
+            particles.SetData(partic);
+            particleConstraintIndex.SetData(partConstIndex);
+            triangleConstraintIndex.SetData(triConstIndex);
+
+            this.particleIndices = triangles.AsComputeBuffer<int>();
+            this.firstTriangle = firstTriangle.AsComputeBuffer<int>();
+            this.numTriangles = numTriangles.AsComputeBuffer<int>();
+            this.restVolumes = restVolumes.AsComputeBuffer<float>();
+            this.pressureStiffness = pressureStiffness.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            volumes.Dispose();
+            denominators.Dispose();
+            particles.Dispose();
+            particleConstraintIndex.Dispose();
+            triangleConstraintIndex.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // 1: parallel over all triangles, atomic accumulate gradient on orientationDeltasInt
+            // 2: reduction over triangles, sum volume.
+            // 3: reduction over particles, sum denominator.
+            // 4: parallel over constraints: lambda
+            // 5: parallel over triangles, atomic accumulate delta.
+
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeVolumeConstraints)m_Constraints).constraintsShader;
+                int gradientsKernel = ((ComputeVolumeConstraints)m_Constraints).gradientsKernel;
+                int volumeKernel = ((ComputeVolumeConstraints)m_Constraints).volumeKernel;
+                int denominatorsKernel = ((ComputeVolumeConstraints)m_Constraints).denominatorsKernel;
+                int constraintKernel = ((ComputeVolumeConstraints)m_Constraints).constraintKernel;
+                int deltasKernel = ((ComputeVolumeConstraints)m_Constraints).deltasKernel;
+
+                /*shader.SetBuffer(projectKernel, "triangles", particleIndices);
+                shader.SetBuffer(projectKernel, "firstTriangle", firstTriangle);
+                shader.SetBuffer(projectKernel, "numTriangles", numTriangles);
+                shader.SetBuffer(projectKernel, "restVolumes", restVolumes);
+                shader.SetBuffer(projectKernel, "pressureStiffness", pressureStiffness);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "denominators", denominators);
+                shader.SetBuffer(projectKernel, "volumes", volumes);
+                shader.SetBuffer(projectKernel, "gradients", solverImplementation.fluidDataBuffer);
+
+                shader.SetBuffer(projectKernel, "particles", particles);
+                shader.SetBuffer(projectKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(projectKernel, "triangleConstraintIndex", triangleConstraintIndex);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);*/
+
+                int trianglesCount = particleIndices.count / 3;
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetInt("trianglesCount", trianglesCount);
+                shader.SetInt("particlesCount", particles.count);
+                shader.SetFloat("deltaTime", substepTime);
+
+                // Gradients:
+                shader.SetBuffer(gradientsKernel, "triangles", particleIndices);
+                shader.SetBuffer(gradientsKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(gradientsKernel, "positions", solverImplementation.positionsBuffer);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(trianglesCount, 128);
+                shader.Dispatch(gradientsKernel, threadGroups, 1, 1);
+
+                // Volume:
+                shader.SetBuffer(volumeKernel, "triangles", particleIndices);
+                shader.SetBuffer(volumeKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(volumeKernel, "volumes", volumes);
+                shader.SetBuffer(volumeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(volumeKernel, "triangleConstraintIndex", triangleConstraintIndex);
+
+                shader.Dispatch(volumeKernel, threadGroups, 1, 1);
+
+                // Denominators:
+                shader.SetBuffer(denominatorsKernel, "particles", particles);
+                shader.SetBuffer(denominatorsKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(denominatorsKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(denominatorsKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(denominatorsKernel, "denominators", denominators);
+
+                threadGroups = ComputeMath.ThreadGroupCount(particles.count, 128);
+                shader.Dispatch(denominatorsKernel, threadGroups, 1, 1);
+
+                // Constraint:
+                shader.SetBuffer(constraintKernel, "denominators", denominators);
+                shader.SetBuffer(constraintKernel, "volumes", volumes);
+                shader.SetBuffer(constraintKernel, "restVolumes", restVolumes);
+                shader.SetBuffer(constraintKernel, "pressureStiffness", pressureStiffness);
+                shader.SetBuffer(constraintKernel, "lambdas", lambdas);
+
+                threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(constraintKernel, threadGroups, 1, 1);
+
+                // Deltas:
+                shader.SetBuffer(deltasKernel, "particles", particles);
+                shader.SetBuffer(deltasKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(deltasKernel, "lambdas", lambdas);
+                shader.SetBuffer(deltasKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(deltasKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(deltasKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(deltasKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                threadGroups = ComputeMath.ThreadGroupCount(particles.count, 128);
+                shader.Dispatch(deltasKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeVolumeConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeVolumeConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "triangles", particleIndices);
+                shader.SetBuffer(applyKernel, "firstTriangle", firstTriangle);
+                shader.SetBuffer(applyKernel, "numTriangles", numTriangles);
+
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta
new file mode 100644
index 00000000..d661247b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta
new file mode 100644
index 00000000..e93da584
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs
new file mode 100644
index 00000000..41d8de28
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs
@@ -0,0 +1,405 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public class ComputeParticleGrid : IDisposable
+    {
+        public ComputeShader gridShader;
+        public int clearKernel;
+        public int insertSimplicesKernel;
+        public int gridPopulationKernel;
+        public int sortSimplicesKernel;
+        public int buildFluidDispatchKernel;
+        public int buildMortonKernel;
+        public int mortonSortKernel;
+        public int sortFluidSimplicesKernel;
+
+        public int sameLevelNeighborsKernel;
+        public int upperLevelsNeighborsKernel;
+        public int contactsKernel;
+
+        public ComputePrefixSum cellsPrefixSum;
+        private ComputePrefixSum fluidPrefixSum;
+
+        public GraphicsBuffer cellCounts;                   // for each cell, how many simplices in it.
+        public GraphicsBuffer cellOffsets;                  // index of the first simplex in the cell (on gridToMorton buffer).
+        public GraphicsBuffer offsetInCell;                 // for each simplex, offset within its cell.
+        public GraphicsBuffer levelPopulation;              // buffer storing amount of entries in each grid level
+
+        public GraphicsBuffer neighbors;                    // neighbor indices for all particles. (maxNeighbors * simplexCount in size)
+        public GraphicsBuffer neighborCounts;               // amount of neighbors for each particle. (simplexCount in size)
+
+        public GraphicsBuffer contactPairs;                 // list of particle pairs.
+        public GraphicsBuffer dispatchBuffer;               // dispatch info for iterating trough contacts.
+
+        public GraphicsBuffer cellHashToMortonIndex;
+        public GraphicsBuffer mortonSortedCellHashes;       // contains all cell hashes sorted according to their morton index.
+        public GraphicsBuffer sortedSimplexIndices;         // maps from grid index to simplex index.
+
+        public GraphicsBuffer sortedFluidIndices;           // contains compacted sorted indices of fluid simplices *only*. Eg, entry 0 contains the index of the first fluid simplex along the morton curve.
+        public GraphicsBuffer sortedSimplexToFluid;         // maps from sorted simplex index to sorted fluid index, or -1 if the simplex is not fluid.
+
+        public GraphicsBuffer sortedPrincipalRadii;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidMaterials;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidInterface;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidDataVel;           // Used by Density constraints: no need to be sorted (constraints output). Reuse for velocities (foam advection and mesher).
+
+        public GraphicsBuffer sortedPositions;              // Used by Density constraints: needs to be sorted once per iteration.
+        public GraphicsBuffer sortedPrevPosOrientations;    // Used by Density constraints: needs to be sorted once per iteration. Reuse for orientations (foam advection and mesher).
+        public GraphicsBuffer sortedUserDataColor;          // Used by Density constraints: needs to be sorted once per iteration. Reuse for colors (mesher).
+
+        private const int maxGridLevels = 24;
+        private uint[] clearDispatch = { 0, 1, 1, 0 };
+
+        public int maxParticleNeighbors { get; private set; } = 128;
+        public int maxParticleContacts { get; private set; } = 4;
+
+        public int maxCells{
+            get { return cellCounts != null ? cellCounts.count : 0; }
+        }
+
+        public ComputeParticleGrid()
+        {
+            gridShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleGrid"));
+            clearKernel = gridShader.FindKernel("Clear");
+            insertSimplicesKernel = gridShader.FindKernel("InsertSimplices");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortSimplicesKernel = gridShader.FindKernel("SortSimplices");
+            buildFluidDispatchKernel = gridShader.FindKernel("BuildFluidDispatch");
+            buildMortonKernel = gridShader.FindKernel("BuildMortonIndices");
+            mortonSortKernel = gridShader.FindKernel("MortonSort");
+            sortFluidSimplicesKernel = gridShader.FindKernel("SortFluidSimplices");
+            sameLevelNeighborsKernel = gridShader.FindKernel("FindFluidNeighborsInSameLevel");
+            upperLevelsNeighborsKernel = gridShader.FindKernel("FindFluidNeighborsInUpperLevels");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 4, sizeof(uint));
+        }
+
+        private void Clear()
+        {
+            cellsPrefixSum?.Dispose();
+            fluidPrefixSum?.Dispose();
+
+            if (cellCounts != null)
+                cellCounts.Dispose();
+            if (cellOffsets != null)
+                cellOffsets.Dispose();
+            if (offsetInCell != null)
+                offsetInCell.Dispose();
+
+            if (contactPairs != null)
+                contactPairs.Dispose();
+
+            if (neighbors != null)
+                neighbors.Dispose();
+            if (neighborCounts != null)
+                neighborCounts.Dispose();
+
+            if (cellHashToMortonIndex != null)
+                cellHashToMortonIndex.Dispose();
+            if (mortonSortedCellHashes != null)
+                mortonSortedCellHashes.Dispose();
+            if (sortedSimplexIndices != null)
+                sortedSimplexIndices.Dispose();
+            if (sortedFluidIndices != null)
+                sortedFluidIndices.Dispose();
+            if (sortedSimplexToFluid != null)
+                sortedSimplexToFluid.Dispose();
+
+            if (sortedPositions != null)
+                sortedPositions.Dispose();
+            if (sortedPrevPosOrientations != null)
+                sortedPrevPosOrientations.Dispose();
+            if (sortedPrincipalRadii != null)
+                sortedPrincipalRadii.Dispose();
+            if (sortedFluidMaterials != null)
+                sortedFluidMaterials.Dispose();
+            if (sortedFluidInterface != null)
+                sortedFluidInterface.Dispose();
+            if (sortedUserDataColor != null)
+                sortedUserDataColor.Dispose();
+            if (sortedFluidDataVel != null)
+                sortedFluidDataVel.Dispose();
+
+            cellsPrefixSum = null;
+            fluidPrefixSum = null;
+            cellCounts = null;
+            cellOffsets = null;
+            offsetInCell = null;
+            contactPairs = null;
+            neighbors = null;
+            neighborCounts = null;
+            sortedSimplexIndices = null;
+            cellHashToMortonIndex = null;
+            sortedFluidIndices = null;
+            sortedSimplexToFluid = null;
+            sortedPositions = null;
+            sortedPrevPosOrientations = null;
+            sortedPrincipalRadii = null;
+            sortedFluidMaterials = null;
+            sortedFluidInterface = null;
+            sortedUserDataColor = null;
+            sortedFluidDataVel = null;
+        }
+
+        public void Dispose()
+        {
+            if (levelPopulation != null)
+                levelPopulation.Dispose();
+
+            if (dispatchBuffer != null)
+                dispatchBuffer.Dispose();
+
+            levelPopulation = null;
+            dispatchBuffer = null;
+
+            Clear();
+        }
+
+        // Sets the maximum amount of items that can be stored in the grid.
+        public bool SetCapacity(int capacity, uint maxParticleContacts, uint maxParticleNeighbors)
+        {
+            if (offsetInCell == null || capacity > offsetInCell.count ||
+                maxParticleNeighbors != this.maxParticleNeighbors ||
+                maxParticleContacts != this.maxParticleContacts)
+            {
+                Clear();
+
+                this.maxParticleNeighbors = (int)maxParticleNeighbors;
+                this.maxParticleContacts = (int)maxParticleContacts;
+
+                capacity *= 2;
+                int hashtableSize = (int)(capacity * 1.5f);
+
+                // hashtable data:
+                cellCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellOffsets = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                mortonSortedCellHashes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellHashToMortonIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellsPrefixSum = new ComputePrefixSum(hashtableSize);
+
+                // per simplex data:
+                offsetInCell = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedSimplexIndices = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedFluidIndices = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedSimplexToFluid = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+
+                // contact pairs and neighbor lists:
+                contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity * (int)maxParticleContacts, 8);
+                neighbors = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity * (int)maxParticleNeighbors, 4);
+                neighborCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+
+                // sorted fluid simplex data:
+                fluidPrefixSum = new ComputePrefixSum(capacity);
+                sortedPrincipalRadii = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidMaterials = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidInterface = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedPositions = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedPrevPosOrientations = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedUserDataColor = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidDataVel = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+
+                return true;
+            }
+            return false;
+        }
+
+        public void BuildGrid(ComputeSolverImpl solver, float deltaTime)
+        {
+            dispatchBuffer.SetData(clearDispatch);
+            solver.fluidDispatchBuffer.SetData(clearDispatch);
+
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                gridShader.SetInt("maxContacts", contactPairs.count);
+                gridShader.SetInt("maxCells", cellCounts.count);
+                gridShader.SetInt("maxNeighbors", maxParticleNeighbors);
+                gridShader.SetFloat("deltaTime", deltaTime);
+                gridShader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                gridShader.SetFloat("particleCCD", solver.abstraction.parameters.particleCCD);
+                int cellThreadGroups = ComputeMath.ThreadGroupCount(cellCounts.count, 128);
+
+                solver.abstraction.particleContacts.computeBuffer.SetCounterValue(0);
+
+                int simplexThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                // clear grid:
+                gridShader.SetBuffer(clearKernel, "cellCounts", cellCounts);
+                gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsets);
+                gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+                gridShader.SetBuffer(clearKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.Dispatch(clearKernel, cellThreadGroups, 1, 1);
+
+                // insert simplices in grid and flag fluid simplices:
+                gridShader.SetBuffer(insertSimplicesKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(insertSimplicesKernel, "simplexBounds", solver.simplexBounds);
+                gridShader.SetBuffer(insertSimplicesKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(insertSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(insertSimplicesKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(insertSimplicesKernel, "levelPopulation", levelPopulation);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellCounts", cellCounts);
+                gridShader.SetBuffer(insertSimplicesKernel, "offsetInCell", offsetInCell);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellOffsets", cellOffsets);
+                gridShader.Dispatch(insertSimplicesKernel, simplexThreadGroups, 1, 1);
+
+                // find populated grid levels:
+                gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+                // sort cells along morton curve:
+                gridShader.SetBuffer(mortonSortKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.SetBuffer(mortonSortKernel, "cellOffsets", cellOffsets);
+                gridShader.SetBuffer(mortonSortKernel, "cellCounts", cellCounts);
+
+                int numPairs = ObiUtils.CeilToPowerOfTwo(maxCells) / 2;
+                int numStages = (int)Mathf.Log(numPairs * 2, 2);
+                int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+                for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+                {
+                    for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                    {
+                        int groupWidth = 1 << (stageIndex - stepIndex);
+                        int groupHeight = 2 * groupWidth - 1;
+                        gridShader.SetInt("groupWidth", groupWidth);
+                        gridShader.SetInt("groupHeight", groupHeight);
+                        gridShader.SetInt("stepIndex", stepIndex);
+                        gridShader.Dispatch(mortonSortKernel, groups, 1, 1);
+                    }
+                }
+
+                // build morton indices:
+                gridShader.SetBuffer(buildMortonKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.SetBuffer(buildMortonKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.Dispatch(buildMortonKernel, cellThreadGroups, 1, 1);
+
+                // prefix sum to build cell start array: 
+                cellsPrefixSum.Sum(cellCounts, cellOffsets);
+
+                // sort simplex indices and compact fluid simplex indices:
+                gridShader.SetBuffer(sortSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(sortSimplicesKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sortSimplicesKernel, "sortedSimplexIndices", sortedSimplexIndices);
+                gridShader.SetBuffer(sortSimplicesKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sortSimplicesKernel, "simplices", solver.simplices);
+                gridShader.Dispatch(sortSimplicesKernel, simplexThreadGroups, 1, 1);
+
+                // prefix sum of fluid flags:
+                fluidPrefixSum.Sum(sortedFluidIndices, sortedSimplexToFluid);
+
+                // build fluid dispatch buffer:
+                gridShader.SetBuffer(buildFluidDispatchKernel, "fluidDispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.SetBuffer(buildFluidDispatchKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(buildFluidDispatchKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.Dispatch(buildFluidDispatchKernel, 1, 1, 1);
+
+                // sort fluid data:
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "positions", solver.positionsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidInterface", solver.fluidInterfaceBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "principalRadii", solver.principalRadiiBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidInterface", sortedFluidInterface);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedPrincipalRadii", sortedPrincipalRadii);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidMaterials", solver.fluidMaterialsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidDispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.Dispatch(sortFluidSimplicesKernel, simplexThreadGroups, 1, 1);
+            }
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver)
+        {
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                int simplexThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                // generate contacts list:
+                gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(contactsKernel, "sortedSimplexIndices", sortedSimplexIndices);
+                gridShader.SetBuffer(contactsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(contactsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+
+                gridShader.SetBuffer(contactsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(contactsKernel, "restPositions", solver.restPositionsBuffer);
+                gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+                gridShader.SetBuffer(contactsKernel, "restOrientations", solver.restOrientationsBuffer);
+                gridShader.SetBuffer(contactsKernel, "velocities", solver.velocitiesBuffer);
+                gridShader.SetBuffer(contactsKernel, "invMasses", solver.invMassesBuffer);
+                gridShader.SetBuffer(contactsKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+                gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+                gridShader.SetBuffer(contactsKernel, "normals", solver.normalsIntBuffer);
+                gridShader.SetBuffer(contactsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(contactsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(contactsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(contactsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(contactsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(contactsKernel, "particleContacts", solver.abstraction.particleContacts.computeBuffer);
+                gridShader.SetBuffer(contactsKernel, "contactPairs", contactPairs);
+                gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+                gridShader.Dispatch(contactsKernel, simplexThreadGroups, 1, 1);
+            }
+        }
+
+        public void GenerateFluidNeighborhoods(ComputeSolverImpl solver)
+        {
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                // generate fluid neighbors list:
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "neighbors", neighbors);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "dispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.DispatchIndirect(sameLevelNeighborsKernel, solver.fluidDispatchBuffer);
+
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "mortonSortedSimplexIndices", mortonSortedCellHashes);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "neighbors", neighbors);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "dispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.DispatchIndirect(upperLevelsNeighborsKernel, solver.fluidDispatchBuffer);
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta
new file mode 100644
index 00000000..3316aef4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4965240eebe4141968c02c8af6c340ef
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs
new file mode 100644
index 00000000..4f29ab9f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs
@@ -0,0 +1,82 @@
+using System.Collections;
+using System.Collections.Generic;
+using Obi;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePrefixSum
+    {
+        private ComputeShader scanShader;
+        private int scanInBucketKernel;
+        private int scanAddBucketResult;
+
+        private List<GraphicsBuffer> blockSums = new List<GraphicsBuffer>();
+        private List<GraphicsBuffer> prefixBlockSums = new List<GraphicsBuffer>();
+        private int inputSize;
+        private const int threadsPerGroup = 512;
+
+        public ComputePrefixSum(int inputSize)
+        {
+            scanShader = Resources.Load<ComputeShader>("Compute/Scan");
+            scanInBucketKernel = scanShader.FindKernel("ScanInBucketExclusive");
+            scanAddBucketResult = scanShader.FindKernel("ScanAddBucketResult");
+
+            this.inputSize = inputSize;
+
+            // intermediate auxiliary buffers to store prefix sum of partial block sums:
+            int c = inputSize;
+            while (c > 1)
+            {
+                c = (c + threadsPerGroup - 1) / threadsPerGroup;
+                blockSums.Add(new GraphicsBuffer(GraphicsBuffer.Target.Structured, c, 4));
+                prefixBlockSums.Add(new GraphicsBuffer(GraphicsBuffer.Target.Structured, c, 4));
+            }
+        }
+
+        public void Dispose()
+        {
+            foreach (var sums in blockSums)
+                if (sums != null && sums.IsValid())
+                    sums.Dispose();
+            blockSums.Clear();
+
+            foreach (var sums in prefixBlockSums)
+                if (sums != null && sums.IsValid())
+                    sums.Dispose();
+            prefixBlockSums.Clear();
+        }
+
+        public void Sum(GraphicsBuffer input, GraphicsBuffer result)
+        {
+            if (input.count != inputSize)
+                return;
+            Sum(input, result, input.count, 0);
+        }
+
+        private void Sum(GraphicsBuffer input, GraphicsBuffer result, int count, int level)
+        {
+            int groups = (count + threadsPerGroup - 1) / threadsPerGroup;
+
+            // calculate partial prefix sums, one per block:
+            scanShader.SetInt("count", count);
+            scanShader.SetBuffer(scanInBucketKernel, "_Input", input);
+            scanShader.SetBuffer(scanInBucketKernel, "_Result", result);
+            scanShader.SetBuffer(scanInBucketKernel, "_BlockSum", blockSums[level]);
+            scanShader.Dispatch(scanInBucketKernel, groups, 1, 1);
+
+            if (groups <= 1)
+                return;
+
+            // recursively calculate prefix sum of the partial block sums:
+            Sum(blockSums[level], prefixBlockSums[level], groups, level + 1);
+
+            // add the scanned partial block sums to the result:
+            // (it's important to set the count again, as we just returned from a recursive call).
+            scanShader.SetInt("count", count);
+            scanShader.SetBuffer(scanAddBucketResult, "_Input", prefixBlockSums[level]);
+            scanShader.SetBuffer(scanAddBucketResult, "_Result", result);
+            scanShader.Dispatch(scanAddBucketResult, groups, 1, 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta
new file mode 100644
index 00000000..09aece2e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7909b2c7733204ec39181859400b780e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs
new file mode 100644
index 00000000..26c6af2b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs
@@ -0,0 +1,46 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSort
+    {
+        private ComputeShader sortShader;
+        private int sortKernel;
+
+        public ComputeSort()
+        {
+            sortShader = Resources.Load<ComputeShader>("Compute/BitonicSort");
+            sortKernel = sortShader.FindKernel("BitonicSort");
+        }
+
+        public void Sort(GraphicsBuffer keys, GraphicsBuffer values)
+        {
+            if (keys.count != values.count)
+                return;
+
+            sortShader.SetInt("numEntries", keys.count);
+            sortShader.SetBuffer(sortKernel, "Keys", keys);
+            sortShader.SetBuffer(sortKernel, "Values", values);
+
+            // Launch each step of the sorting algorithm (once the previous step is complete)
+            // Number of steps = [log2(n) * (log2(n) + 1)] / 2
+            // where n = nearest power of 2 that is greater or equal to the number of inputs
+            int numPairs = ObiUtils.CeilToPowerOfTwo(keys.count) / 2;
+            int numStages = (int)Mathf.Log(numPairs * 2, 2);
+            int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+            for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+            {
+                for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                {
+                    int groupWidth = 1 << (stageIndex - stepIndex);
+                    int groupHeight = 2 * groupWidth - 1;
+                    sortShader.SetInt("groupWidth", groupWidth);
+                    sortShader.SetInt("groupHeight", groupHeight);
+                    sortShader.SetInt("stepIndex", stepIndex);
+                    sortShader.Dispatch(sortKernel, groups,1,1);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta
new file mode 100644
index 00000000..4705d420
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta
new file mode 100644
index 00000000..ae5d9ccf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta
@@ -0,0 +1,8 @@
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+guid: 720d0f7e26a9d46039d564d1d98f08c9
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs
new file mode 100644
index 00000000..9e40726a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBoxQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeBoxQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoxShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Box);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta
new file mode 100644
index 00000000..1236be06
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8956fcafa2f984a80a9448fb71a11c7d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs
new file mode 100644
index 00000000..4fe96fd1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeRayQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeRayQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RayShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Ray);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta
new file mode 100644
index 00000000..a075d168
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df812762d482f4e8c86a698f8062b99a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs
new file mode 100644
index 00000000..3c53dfb5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSphereQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeSphereQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SphereShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Sphere);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta
new file mode 100644
index 00000000..5eb442cc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta
new file mode 100644
index 00000000..a6090f8a
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+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta
new file mode 100644
index 00000000..3fc9d9a3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs
new file mode 100644
index 00000000..f9a7a101
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs
@@ -0,0 +1,154 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+#if (SRP_UNIVERSAL)
+using UnityEngine.Rendering.Universal;
+#endif
+
+namespace Obi
+{
+
+    public class ComputeFoamRenderSystem : ObiFoamRenderSystem
+    { 
+
+        private ComputeShader foamShader;
+        private int sortKernel;
+        private int clearMeshKernel;
+        private int buildMeshKernel;
+
+        protected Material thickness_Material;
+        protected Material color_Material;
+        protected LocalKeyword shader2DFeature;
+
+        public ComputeFoamRenderSystem(ObiSolver solver) : base (solver)
+        {
+            foamShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoam"));
+            sortKernel = foamShader.FindKernel("Sort");
+            clearMeshKernel = foamShader.FindKernel("ClearMesh");
+            buildMeshKernel = foamShader.FindKernel("BuildMesh");
+
+#if (SRP_UNIVERSAL)
+            if (GraphicsSettings.currentRenderPipeline is UniversalRenderPipelineAsset)
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/URP/Fluid/FoamParticlesURP"), new RenderBatchParams(true));
+            else
+#endif
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/Fluid/FoamParticles"), new RenderBatchParams(true));
+
+
+            renderBatch.vertexCount = (int)m_Solver.maxFoamParticles * 4;
+            renderBatch.triangleCount = (int)m_Solver.maxFoamParticles * 2;
+            renderBatch.Initialize(layout, true);
+        }
+
+        private void ReallocateParticleBuffers()
+        {
+            // in case the amount of particles allocated does not match
+            // the amount requested by the solver, reallocate
+            if (m_Solver.foamPositions.count * 4 != renderBatch.vertexCount)
+            {
+                renderBatch.Dispose();
+                renderBatch.vertexCount = m_Solver.foamPositions.count * 4;
+                renderBatch.triangleCount = m_Solver.foamPositions.count * 2;
+                renderBatch.Initialize(layout, true);
+            }
+        }
+
+        public override void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                for (int i = 0; i < renderers.Count; ++i)
+                {
+                    renderers[i].actor.solverIndices.AsComputeBuffer<int>();
+                }
+            }
+        }
+
+        public override void Step()
+        {
+            // update solver indices, since particles may have died while updating the emitter.
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].actor.solverIndices.Upload();
+            }
+        }
+
+        public override void Render()
+        {
+            var solver = m_Solver.implementation as ComputeSolverImpl;
+
+            if (!Application.isPlaying)
+                return;
+
+            ReallocateParticleBuffers();
+
+            if (solver.activeParticlesBuffer == null || solver.abstraction.foamPositions.computeBuffer == null)
+                return;
+
+            foreach (Camera camera in cameras)
+            {
+                if (camera == null)
+                    continue;
+
+                // sort by distance to camera:
+                foamShader.SetVector("sortAxis", camera.transform.forward);
+                foamShader.SetBuffer(sortKernel, "inputPositions", solver.abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "inputVelocities", solver.abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "inputColors", solver.abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "inputAttributes", solver.abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputPositions", solver.abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputVelocities", solver.abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputColors", solver.abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputAttributes", solver.abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "dispatch", solver.abstraction.foamCount.computeBuffer);
+
+                int numPairs = ObiUtils.CeilToPowerOfTwo(m_Solver.foamPositions.count) / 2;
+                int numStages = (int)Mathf.Log(numPairs * 2, 2);
+                int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+                for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+                {
+                    for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                    {
+                        int groupWidth = 1 << (stageIndex - stepIndex);
+                        int groupHeight = 2 * groupWidth - 1;
+                        foamShader.SetInt("groupWidth", groupWidth);
+                        foamShader.SetInt("groupHeight", groupHeight);
+                        foamShader.SetInt("stepIndex", stepIndex);
+                        foamShader.Dispatch(sortKernel, groups, 1, 1);
+                    }
+                }
+
+                // build mesh:
+                int threadGroups = ComputeMath.ThreadGroupCount(m_Solver.foamPositions.count, 128);
+                foamShader.SetInt("maxFoamParticles", m_Solver.foamPositions.count);
+                foamShader.SetBuffer(clearMeshKernel, "indices", renderBatch.gpuIndexBuffer);
+                foamShader.Dispatch(clearMeshKernel, threadGroups, 1, 1);
+
+                foamShader.SetBuffer(buildMeshKernel, "inputPositions", solver.abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputVelocities", solver.abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputColors", solver.abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputAttributes", solver.abstraction.foamAttributes.computeBuffer);
+
+                foamShader.SetBuffer(buildMeshKernel, "vertices", renderBatch.gpuVertexBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "indices", renderBatch.gpuIndexBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "dispatch", solver.abstraction.foamCount.computeBuffer);
+
+                foamShader.DispatchIndirect(buildMeshKernel, solver.abstraction.foamCount.computeBuffer);
+
+                matProps.SetFloat("_FadeDepth", 0);
+                matProps.SetFloat("_VelocityStretching", m_Solver.maxFoamVelocityStretch);
+                matProps.SetFloat("_FadeIn", m_Solver.foamFade.x);
+                matProps.SetFloat("_FadeOut", m_Solver.foamFade.y);
+
+                var rp = renderBatch.renderParams;
+                rp.worldBounds = m_Solver.bounds;
+                rp.camera = camera;
+                rp.matProps = matProps;
+
+                Graphics.RenderMesh(rp, renderBatch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta
new file mode 100644
index 00000000..07ab5673
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs
new file mode 100644
index 00000000..08e235cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs
@@ -0,0 +1,104 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeInstancedParticleRenderSystem : ObiInstancedParticleRenderSystem
+    {
+
+        private ComputeShader instanceShader;
+        private int updateKernel;
+        private uint[] args = new uint[5] { 0, 0, 0, 0, 0 };
+
+        public ComputeInstancedParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            instanceShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/InstancedParticleRendering"));
+            updateKernel = instanceShader.FindKernel("UpdateParticleInstances");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(true);
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            activeParticles.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<ParticleRendererData>();
+            rendererIndex.AsComputeBuffer<int>();
+
+            instanceTransforms.AsComputeBuffer<Matrix4x4>();
+            invInstanceTransforms.AsComputeBuffer<Matrix4x4>();
+            instanceColors.AsComputeBuffer<Vector4>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0 && activeParticles.count > 0)
+                {
+                    instanceShader.SetBuffer(updateKernel, "activeParticles", activeParticles.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "rendererIndex", rendererIndex.computeBuffer);
+
+                    instanceShader.SetBuffer(updateKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    instanceShader.SetBuffer(updateKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    instanceShader.SetBuffer(updateKernel, "renderableRadii", computeSolver.renderableRadiiBuffer);
+                    instanceShader.SetBuffer(updateKernel, "colors", computeSolver.colorsBuffer);
+
+                    instanceShader.SetBuffer(updateKernel, "instanceTransforms", instanceTransforms.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "invInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "instanceColors", instanceColors.computeBuffer);
+
+                    instanceShader.SetMatrix("solverToWorld", m_Solver.transform.localToWorldMatrix);
+
+                    instanceShader.SetInt("particleCount", activeParticles.count);
+                    int threadGroups = ComputeMath.ThreadGroupCount(activeParticles.count, 128);
+
+                    instanceShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                    MaterialPropertyBlock mpb = new MaterialPropertyBlock();
+                    mpb.SetBuffer("_InstanceTransforms", instanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_InvInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_Colors", instanceColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+
+                        if (batch.mesh == null)
+                            continue;
+
+                        args[0] = (uint)batch.mesh.GetIndexCount(0);
+                        args[1] = (uint)batch.instanceCount;
+                        args[2] = (uint)batch.mesh.GetIndexStart(0);
+                        args[3] = (uint)batch.mesh.GetBaseVertex(0);
+                        args[4] = (uint)batch.firstInstance;
+                        batch.argsBuffer.SetData(args);
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        Graphics.RenderMeshIndirect(rp, batch.mesh, batch.argsBuffer);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..39147cf5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f8b509404001c45aba2b5d70bed9ad1f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs
new file mode 100644
index 00000000..1508f19c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs
@@ -0,0 +1,71 @@
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ComputeParticleRenderSystem : ObiParticleRenderSystem
+    {
+        public ComputeShader meshComputeShader;
+        private int buildMeshKernel;
+
+        public ComputeParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            meshComputeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleMeshBuilding"));
+            buildMeshKernel = meshComputeShader.FindKernel("BuildMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            activeParticles.AsComputeBuffer<int>();
+            rendererIndex.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<ParticleRendererData>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                var solver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (solver.renderablePositionsBuffer != null &&
+                    activeParticles.computeBuffer != null &&
+                    solver.renderablePositionsBuffer.count > 0)
+                {
+                    meshComputeShader.SetBuffer(buildMeshKernel, "particleIndices", activeParticles.computeBuffer);
+
+                    meshComputeShader.SetBuffer(buildMeshKernel, "positions", solver.renderablePositionsBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "orientations", solver.renderableOrientationsBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "radii", solver.renderableRadiiBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "colors", solver.colorsBuffer);
+
+                    meshComputeShader.SetBuffer(buildMeshKernel, "rendererIndices", rendererIndex.computeBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "rendererData", rendererData.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.vertexCount / 4, 128);
+
+                        meshComputeShader.SetInt("firstParticle", batch.firstParticle);
+                        meshComputeShader.SetInt("particleCount", batch.vertexCount / 4);
+
+                        meshComputeShader.SetBuffer(buildMeshKernel, "vertices", batch.gpuVertexBuffer);
+                        meshComputeShader.SetBuffer(buildMeshKernel, "indices", batch.gpuIndexBuffer);
+
+                        meshComputeShader.Dispatch(buildMeshKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..ac29d03b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a636d056cf9924c4b9d569058fa42d31
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta
new file mode 100644
index 00000000..3242dc7f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 9c226d9f8a58648e789dbd116881847d
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs
new file mode 100644
index 00000000..3c73db95
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs
@@ -0,0 +1,107 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeChainRopeRenderSystem : ObiChainRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+        private uint[] args = new uint[5] { 0, 0, 0, 0, 0 };
+
+        public ComputeChainRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeChainRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateChainMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(true);
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            rendererData.AsComputeBuffer<ChainRendererData>();
+            chunkData.AsComputeBuffer<ChunkData>();
+            modifiers.SafeAsComputeBuffer<ObiRopeChainRenderer.LinkModifier>();
+            elements.AsComputeBuffer<Vector2Int>();
+
+            instanceTransforms.AsComputeBuffer<Matrix4x4>();
+            invInstanceTransforms.AsComputeBuffer<Matrix4x4>();
+            instanceColors.AsComputeBuffer<Vector4>();
+
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0 && elements.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunksData", chunkData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "modifiers", modifiers.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "elements", elements.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    ropeShader.SetBuffer(updateKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    ropeShader.SetBuffer(updateKernel, "principalRadii", computeSolver.renderableRadiiBuffer);
+                    ropeShader.SetBuffer(updateKernel, "colors", computeSolver.colorsBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "instanceTransforms", instanceTransforms.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "invInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "instanceColors", instanceColors.computeBuffer);
+
+                    ropeShader.SetMatrix("solverToWorld", m_Solver.transform.localToWorldMatrix);
+
+                    ropeShader.SetInt("chunkCount", chunkData.count);
+                    int threadGroups = ComputeMath.ThreadGroupCount(chunkData.count, 32);
+
+                    ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                    MaterialPropertyBlock mpb = new MaterialPropertyBlock();
+                    mpb.SetBuffer("_InstanceTransforms", instanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_InvInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_Colors", instanceColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+
+                        if (batch.mesh == null)
+                            continue;
+
+                        args[0] = (uint)batch.mesh.GetIndexCount(0);
+                        args[1] = (uint)batch.instanceCount;
+                        args[2] = (uint)batch.mesh.GetIndexStart(0);
+                        args[3] = (uint)batch.mesh.GetBaseVertex(0);
+                        args[4] = (uint)batch.firstInstance;
+                        batch.argsBuffer.SetData(args);
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        Graphics.RenderMeshIndirect(rp, batch.mesh, batch.argsBuffer);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..40dadbaf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fe4c45599ea584be2a1b122fbe7d0ec6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs
new file mode 100644
index 00000000..423db645
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs
@@ -0,0 +1,101 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class ComputeExtrudedRopeRenderSystem : ObiExtrudedRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeExtrudedRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeExtrudedRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateRopeMesh");
+        }
+
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            sectionData.AsComputeBuffer<Vector2>();
+            sectionOffsets.AsComputeBuffer<int>();
+            sectionIndices.AsComputeBuffer<int>();
+
+            vertexOffsets.AsComputeBuffer<int>();
+            triangleOffsets.AsComputeBuffer<int>();
+            triangleCounts.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstExtrudedMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "sectionData", sectionData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sectionOffsets", sectionOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sectionIndices", sectionIndices.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleOffsets", triangleOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleCounts", triangleCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "extrudedData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 128);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+                        ropeShader.SetBuffer(updateKernel, "tris", batch.gpuIndexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..d02481a3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f8977537c032b46c680d6b11b587e949
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs
new file mode 100644
index 00000000..4e160671
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs
@@ -0,0 +1,103 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeLineRopeRenderSystem : ObiLineRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeLineRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeLineRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateLineMesh");
+        }
+
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            vertexOffsets.AsComputeBuffer<int>();
+            triangleOffsets.AsComputeBuffer<int>();
+            triangleCounts.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstLineMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+
+        }
+
+        public override void Render() { }
+
+        public override void RenderFromCamera(Camera camera)
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleOffsets", triangleOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleCounts", triangleCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    ropeShader.SetVector("localSpaceCamera", m_Solver.transform.InverseTransformPoint(camera.transform.position));
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 128);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+                        ropeShader.SetBuffer(updateKernel, "tris", batch.gpuIndexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.camera = camera;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..b737e7d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1de4576d2ba2b4966af730ac7a09e224
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs
new file mode 100644
index 00000000..2abb1191
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs
@@ -0,0 +1,108 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+
+    public class ComputeMeshRopeRenderSystem : ObiMeshRopeRenderSystem
+    {
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeMeshRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeMeshRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateRopeMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(sortedRenderers, meshData, meshIndices, layout, true);
+
+            meshData.PrepareForCompute();
+            meshIndices.AsComputeBuffer<int>();
+
+            sortedIndices.AsComputeBuffer<int>();
+            sortedOffsets.AsComputeBuffer<int>();
+
+            vertexOffsets.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+
+            base.CloseBatches();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "meshIndices", meshIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "meshData", meshData.meshData.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "sortedIndices", sortedIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sortedOffsets", sortedOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "positions", meshData.restPositions.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "normals", meshData.restNormals.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "tangents", meshData.restTangents.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "colors", meshData.restColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 16);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        for (int m = 0; m < batch.materials.Length; ++m)
+                        {
+                            rp.material = batch.materials[m];
+                            Graphics.RenderMesh(rp, batch.mesh, m, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                        }
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..eb266867
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f880620ed267d4cb4a701183bcadfe15
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs
new file mode 100644
index 00000000..9f363f23
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ComputePathSmootherRenderSystem : ObiPathSmootherRenderSystem
+    {
+
+        private ComputeShader pathShader;
+        private int parallelTransportKernel;
+        private int decimateKernel;
+        private int smoothKernel;
+
+        public ComputePathSmootherRenderSystem(ObiSolver solver) : base(solver)
+        {
+            pathShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/PathSmoothing"));
+            parallelTransportKernel = pathShader.FindKernel("ParallelTransport");
+            decimateKernel = pathShader.FindKernel("Decimate");
+            smoothKernel = pathShader.FindKernel("ChaikinSmooth");
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            particleIndices.AsComputeBuffer<int>();
+            rawFrameOffsets.AsComputeBuffer<int>();
+            pathData.AsComputeBuffer<BurstPathSmootherData>();
+            rawFrames.AsComputeBuffer<ObiPathFrame>();
+            decimatedFrameCounts.AsComputeBuffer<int>();
+
+            smoothFrames.AsComputeBuffer<ObiPathFrame>();
+            smoothFrameOffsets.AsComputeBuffer<int>();
+            smoothFrameCounts.AsComputeBuffer<int>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                //base.Render();
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0)
+                {
+                    // wait for gpu data to be transferred:
+                    pathData.WaitForReadback();
+                    smoothFrames.WaitForReadback();
+
+                    // update rest lenghts and upload to gpu:
+                    base.Render();
+                    pathData.Upload();
+
+                    int threadGroups = ComputeMath.ThreadGroupCount(rawFrameOffsets.count, 128);
+                    pathShader.SetInt("chunkCount", rawFrameOffsets.count);
+
+                    pathShader.SetBuffer(parallelTransportKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "particleIndices", particleIndices.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "principalRadii", computeSolver.principalRadiiBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "colors", computeSolver.colorsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "pathData", pathData.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "pathFrames", rawFrames.computeBuffer);
+
+                    pathShader.Dispatch(parallelTransportKernel, threadGroups, 1, 1);
+
+                    pathShader.SetBuffer(decimateKernel, "pathFrames", rawFrames.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "decimatedFrameCounts", decimatedFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "pathData", pathData.computeBuffer);
+
+                    pathShader.Dispatch(decimateKernel, threadGroups, 1, 1);
+
+                    pathShader.SetBuffer(smoothKernel, "pathFrames", rawFrames.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "decimatedFrameCounts", decimatedFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrames", smoothFrames.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrameOffsets", smoothFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrameCounts", smoothFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "pathData", pathData.computeBuffer);
+
+                    pathShader.Dispatch(smoothKernel, threadGroups, 1, 1);
+
+                    pathData.Readback();
+                    smoothFrames.Readback();
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta
new file mode 100644
index 00000000..acdff97c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7ed459657fb054e7b8e0c806e8e5016e
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta
new file mode 100644
index 00000000..3c8e3c2f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e6a74baa6b875488ea6366478aece6a3
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs
new file mode 100644
index 00000000..44f348f4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs
@@ -0,0 +1,1275 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class ComputeSolverImpl : ISolverImpl
+    {
+        ObiSolver m_Solver;
+
+        public ObiSolver abstraction
+        {
+            get { return m_Solver; }
+        }
+
+        public int particleCount
+        {
+            get { return m_Solver.positions.count; }
+        }
+
+        public int activeParticleCount
+        {
+            get { return m_Solver.activeParticles.count; }
+        }
+
+        public int deformableTriangleCount
+        {
+            get { return m_Solver.deformableTriangles.count / 3; }
+        }
+
+        public int deformableEdgeCount
+        {
+            get { return m_Solver.deformableEdges.count / 2; }
+        }
+
+        public InertialFrame inertialFrame
+        {
+            get { return m_InertialFrame; }
+        }
+
+        public uint activeFoamParticleCount { private set; get; }
+
+        // Per-type constraints array:
+        IComputeConstraintsImpl[] constraints;
+
+        // Per-type iteration padding array:
+        private int[] padding = new int[Oni.ConstraintTypeCount];
+
+        // job handle:
+        private ComputeJobHandle jobHandle;
+
+        // particle contact generation:
+        public ComputeParticleGrid particleGrid;
+
+        // collider contact generation:
+        public ComputeColliderWorld colliderGrid;
+
+        // spatial queries:
+        public SpatialQueries spatialQueries;
+
+        // misc data:
+        private InertialFrame m_InertialFrame;
+
+        // cached particle data arrays (just wrappers over raw unmanaged data held by the abstract solver)
+        public GraphicsBuffer positionsBuffer;
+        public GraphicsBuffer orientationsBuffer;
+        public GraphicsBuffer startPositionsBuffer;
+        public GraphicsBuffer endPositionsBuffer;
+        public GraphicsBuffer startOrientationsBuffer;
+        public GraphicsBuffer endOrientationsBuffer;
+        public GraphicsBuffer restPositionsBuffer;
+        public GraphicsBuffer prevPositionsBuffer;
+        public GraphicsBuffer restOrientationsBuffer;
+        public GraphicsBuffer prevOrientationsBuffer;
+        public GraphicsBuffer renderablePositionsBuffer;
+        public GraphicsBuffer renderableOrientationsBuffer;
+        public GraphicsBuffer renderableRadiiBuffer;
+        public GraphicsBuffer colorsBuffer;
+        public GraphicsBuffer collisionMaterialIndexBuffer;
+
+        public GraphicsBuffer principalRadiiBuffer;
+        public GraphicsBuffer velocitiesBuffer;
+        public GraphicsBuffer invMassesBuffer;
+        public GraphicsBuffer phasesBuffer;
+        public GraphicsBuffer filtersBuffer;
+
+        public GraphicsBuffer angularVelocitiesBuffer;
+        public GraphicsBuffer invRotationalMassesBuffer;
+        public GraphicsBuffer externalForcesBuffer;
+        public GraphicsBuffer externalTorquesBuffer;
+        public GraphicsBuffer windBuffer;
+
+        public GraphicsBuffer lifeBuffer;
+        public GraphicsBuffer fluidDataBuffer;
+        public GraphicsBuffer userDataBuffer;
+        public GraphicsBuffer fluidMaterialsBuffer;
+        public GraphicsBuffer fluidInterfaceBuffer;
+        public GraphicsBuffer anisotropiesBuffer;
+
+        public GraphicsBuffer auxPositions;
+        public GraphicsBuffer auxVelocities;
+        public GraphicsBuffer auxColors;
+        public GraphicsBuffer auxAttributes;
+        public GraphicsBuffer auxOffsetInCell;
+        public GraphicsBuffer auxSortedToOriginal;
+
+        public GraphicsBuffer normalsBuffer;
+        public GraphicsBuffer cellCoordsBuffer;
+
+        public GraphicsBuffer positionDeltasIntBuffer;
+        public GraphicsBuffer orientationDeltasIntBuffer;
+
+        public GraphicsBuffer positionConstraintCountBuffer;
+        public GraphicsBuffer orientationConstraintCountBuffer;
+
+        public GraphicsBuffer activeParticlesBuffer;
+        public GraphicsBuffer fluidDispatchBuffer;
+
+        public GraphicsBuffer normalsIntBuffer;
+        public GraphicsBuffer tangentsIntBuffer;
+
+        public GraphicsBuffer solverToWorldBuffer;
+        public GraphicsBuffer worldToSolverBuffer;
+        public GraphicsBuffer inertialFrameBuffer;
+        private AffineTransform[] solverToWorldArray;
+        private AffineTransform[] worldToSolverArray;
+        private InertialFrame[] inertialFrameArray;
+
+        public GraphicsBuffer rigidbodyLinearDeltasBuffer;
+        public GraphicsBuffer rigidbodyAngularDeltasBuffer;
+
+        public GraphicsBuffer rigidbodyLinearDeltasIntBuffer;
+        public GraphicsBuffer rigidbodyAngularDeltasIntBuffer;
+
+        public GraphicsBuffer reducedBounds;
+
+        // simplices:
+        public SimplexCounts simplexCounts;
+        public GraphicsBuffer simplices;
+        public GraphicsBuffer simplexBounds;
+
+        public Aabb solverBounds;
+        private AsyncGPUReadbackRequest boundsRequest;
+
+        private ComputeShader solverShader;
+        private int applyInertialForcesKernel;
+        private int applyRigidbodyDeltasKernel;
+        private int storeStartStateKernel;
+        private int predictPositionsKernel;
+        private int updateVelocitiesKernel;
+        private int updatePositionsKernel;
+        private int interpolateKernel;
+
+        private ComputeShader boundsShader;
+        private int simplexBoundsKernel;
+        private int editSimplexBoundsKernel;
+        private int boundsReductionKernel;
+
+        private ComputeShader deformableTrisShader;
+        private int resetNormalsKernel;
+        private int updateNormalsKernel;
+        private int updateEdgeNormalsKernel;
+        private int orientationFromNormalsKernel;
+
+        private ComputeShader foamShader;
+        private int sortDataKernel;
+        private int emitFoamKernel;
+        private int copyAliveKernel;
+        private int updateFoamKernel;
+        private int copyKernel;
+
+        private ComputeShader foamDensityShader;
+        private int clearGridKernel;
+        private int insertGridKernel;
+        private int sortByGridKernel;
+        private int computeDensityKernel;
+        private int applyDensityKernel;
+
+        public ComputeSolverImpl(ObiSolver solver)
+        {
+            this.m_Solver = solver;
+
+            jobHandle = new ComputeJobHandle();
+            solverBounds = new Aabb(solver.transform.position - Vector3.one, solver.transform.position + Vector3.one);
+
+            solver.queryResults.ResizeUninitialized((int)abstraction.maxQueryResults);
+            solver.queryResults.SafeAsComputeBuffer<QueryResult>(GraphicsBuffer.Target.Counter);
+
+            solver.foamCount.AsComputeBuffer<int>(GraphicsBuffer.Target.IndirectArguments);
+            solver.foamPositions.AsComputeBuffer<Vector4>();
+            solver.foamVelocities.AsComputeBuffer<Vector4>();
+            solver.foamColors.AsComputeBuffer<Vector4>();
+            solver.foamAttributes.AsComputeBuffer<Vector4>();
+
+            solverShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/Solver"));
+            applyInertialForcesKernel = solverShader.FindKernel("ApplyInertialForces");
+            applyRigidbodyDeltasKernel = solverShader.FindKernel("ApplyRigidbodyDeltas");
+            storeStartStateKernel = solverShader.FindKernel("StoreStartState");
+            predictPositionsKernel = solverShader.FindKernel("PredictPositions");
+            updateVelocitiesKernel = solverShader.FindKernel("UpdateVelocities");
+            updatePositionsKernel = solverShader.FindKernel("UpdatePositions");
+            interpolateKernel = solverShader.FindKernel("Interpolate");
+
+            boundsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoundsReduction"));
+            simplexBoundsKernel = boundsShader.FindKernel("RuntimeSimplexBounds");
+            editSimplexBoundsKernel = boundsShader.FindKernel("EditSimplexBounds");
+            boundsReductionKernel = boundsShader.FindKernel("Reduce");
+
+            deformableTrisShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DeformableTriangles"));
+            resetNormalsKernel = deformableTrisShader.FindKernel("ResetNormals");
+            updateNormalsKernel = deformableTrisShader.FindKernel("UpdateNormals");
+            updateEdgeNormalsKernel = deformableTrisShader.FindKernel("UpdateEdgeNormals");
+            orientationFromNormalsKernel = deformableTrisShader.FindKernel("OrientationFromNormals");
+
+            foamShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoam"));
+            sortDataKernel = foamShader.FindKernel("SortFluidData");
+            emitFoamKernel = foamShader.FindKernel("Emit");
+            copyAliveKernel = foamShader.FindKernel("CopyAliveCount");
+            updateFoamKernel = foamShader.FindKernel("Update");
+            copyKernel = foamShader.FindKernel("Copy");
+
+            foamDensityShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoamDensity"));
+            clearGridKernel = foamDensityShader.FindKernel("Clear");
+            insertGridKernel = foamDensityShader.FindKernel("InsertInGrid");
+            sortByGridKernel = foamDensityShader.FindKernel("SortByGrid");
+            computeDensityKernel = foamDensityShader.FindKernel("ComputeDensity");
+            applyDensityKernel = foamDensityShader.FindKernel("ApplyDensity");
+
+            solverToWorldBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 48);
+            solverToWorldArray = new AffineTransform[1];
+            worldToSolverBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 48);
+            worldToSolverArray = new AffineTransform[1];
+            inertialFrameBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 160);
+            inertialFrameArray = new InertialFrame[1];
+
+            fluidDispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 4, sizeof(uint));
+
+            // Initialize collision world:
+            GetOrCreateColliderWorld();
+            colliderGrid.IncreaseReferenceCount();
+
+            // Initialize contact generation acceleration structure:
+            particleGrid = new ComputeParticleGrid();
+
+            // Initialize spatial query system.
+            spatialQueries = new SpatialQueries(solver.maxQueryResults);
+
+            // Initialize constraint arrays:
+            constraints = new IComputeConstraintsImpl[Oni.ConstraintTypeCount];
+            constraints[(int)Oni.ConstraintType.Tether] = new ComputeTetherConstraints(this);
+            constraints[(int)Oni.ConstraintType.Volume] = new ComputeVolumeConstraints(this);
+            constraints[(int)Oni.ConstraintType.Chain] = new ComputeChainConstraints(this);
+            constraints[(int)Oni.ConstraintType.Bending] = new ComputeBendConstraints(this);
+            constraints[(int)Oni.ConstraintType.Distance] = new ComputeDistanceConstraints(this);
+            constraints[(int)Oni.ConstraintType.ShapeMatching] = new ComputeShapeMatchingConstraints(this);
+            constraints[(int)Oni.ConstraintType.BendTwist] = new ComputeBendTwistConstraints(this);
+            constraints[(int)Oni.ConstraintType.StretchShear] = new ComputeStretchShearConstraints(this);
+            constraints[(int)Oni.ConstraintType.Pin] = new ComputePinConstraints(this);
+            constraints[(int)Oni.ConstraintType.Skin] = new ComputeSkinConstraints(this);
+            constraints[(int)Oni.ConstraintType.Aerodynamics] = new ComputeAerodynamicConstraints(this);
+            constraints[(int)Oni.ConstraintType.Stitch] = new ComputeStitchConstraints(this);
+
+            constraints[(int)Oni.ConstraintType.ParticleCollision] = new ComputeParticleCollisionConstraints(this);
+            constraints[(int)Oni.ConstraintType.ParticleCollision].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Collision] = new ComputeColliderCollisionConstraints(this);
+            constraints[(int)Oni.ConstraintType.Collision].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.ParticleFriction] = new ComputeParticleFrictionConstraints(this);
+            constraints[(int)Oni.ConstraintType.ParticleFriction].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Friction] = new ComputeColliderFrictionConstraints(this);
+            constraints[(int)Oni.ConstraintType.Friction].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Density] = new ComputeDensityConstraints(this);
+            constraints[(int)Oni.ConstraintType.Density].CreateConstraintsBatch();
+        }
+
+        public void Destroy()
+        {
+
+            reducedBounds?.Dispose();
+            solverToWorldBuffer?.Dispose();
+            worldToSolverBuffer?.Dispose();
+            inertialFrameBuffer?.Dispose();
+            fluidDispatchBuffer?.Dispose();
+
+            for (int i = 0; i < constraints.Length; ++i)
+                if (constraints[i] != null)
+                    constraints[i].Dispose();
+
+            // Get rid of particle and collider grids/queries:
+            particleGrid?.Dispose();
+
+            // cannot use null-coalescing because this is a GameObject, and Unity overrides !=
+            if (colliderGrid != null)
+                colliderGrid.DecreaseReferenceCount();
+
+            spatialQueries?.Dispose();
+
+            positionDeltasIntBuffer?.Dispose();
+            orientationDeltasIntBuffer?.Dispose();
+
+            rigidbodyLinearDeltasIntBuffer?.Dispose();
+            rigidbodyAngularDeltasIntBuffer?.Dispose();
+
+            normalsIntBuffer?.Dispose();
+            tangentsIntBuffer?.Dispose();
+
+            simplexBounds?.Dispose();
+
+            auxPositions?.Dispose();
+            auxVelocities?.Dispose();
+            auxColors?.Dispose();
+            auxAttributes?.Dispose();
+            auxOffsetInCell?.Dispose();
+            auxSortedToOriginal?.Dispose();
+        }
+
+        private void GetOrCreateColliderWorld()
+        {
+            colliderGrid = GameObject.FindObjectOfType<ComputeColliderWorld>();
+            if (colliderGrid == null)
+            {
+                var world = new GameObject("ComputeCollisionWorld", typeof(ComputeColliderWorld));
+                colliderGrid = world.GetComponent<ComputeColliderWorld>();
+            }
+        }
+
+        public void PushData()
+        {
+            // Send data to the GPU:
+            abstraction.positions.Upload();
+            abstraction.orientations.Upload();
+            abstraction.velocities.Upload();
+            abstraction.angularVelocities.Upload();
+            abstraction.colors.Upload();
+
+            abstraction.startPositions.Upload();
+            abstraction.startOrientations.Upload();
+            abstraction.endPositions.Upload();
+            abstraction.endOrientations.Upload();
+
+            abstraction.restPositions.Upload();
+            abstraction.restOrientations.Upload();
+            abstraction.principalRadii.Upload();
+            abstraction.invMasses.Upload();
+            abstraction.invRotationalMasses.Upload();
+            abstraction.phases.Upload();
+            abstraction.filters.Upload();
+            abstraction.externalForces.Upload();
+            abstraction.externalTorques.Upload();
+            abstraction.wind.WipeToValue(abstraction.parameters.ambientWind);
+            abstraction.wind.Upload();
+
+            abstraction.life.Upload();
+            abstraction.fluidData.Upload();
+            abstraction.userData.Upload();
+            abstraction.fluidInterface.Upload();
+            abstraction.fluidMaterials.Upload();
+
+            rigidbodyLinearDeltasIntBuffer.SetData(abstraction.rigidbodyLinearDeltas.AsNativeArray<VInt4>());
+            rigidbodyAngularDeltasIntBuffer.SetData(abstraction.rigidbodyAngularDeltas.AsNativeArray<VInt4>());
+        }
+
+        public void RequestReadback()
+        {
+            // Copy rigidbody deltas (int) to output buffers (float), then request readback:
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "linearDeltasAsInt", rigidbodyLinearDeltasIntBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "angularDeltasAsInt", rigidbodyAngularDeltasIntBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "linearDeltas", rigidbodyLinearDeltasBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "angularDeltas", rigidbodyAngularDeltasBuffer);
+
+            solverShader.SetInt("particleCount", abstraction.rigidbodyLinearDeltas.count);
+
+            int threadGroups = ComputeMath.ThreadGroupCount(abstraction.rigidbodyLinearDeltas.count, 128);
+            solverShader.Dispatch(applyRigidbodyDeltasKernel, threadGroups, 1, 1);
+
+            abstraction.rigidbodyLinearDeltas.Readback();
+            abstraction.rigidbodyAngularDeltas.Readback();
+
+            // begin particle data async GPU -> CPU transfer.
+            // by default, only positions and velocities are read back.
+            // ObiActors can request whatever data they need in RequestReadback,
+            // then wait for it in SimulationEnd.
+            abstraction.positions.Readback();
+            abstraction.velocities.Readback();
+
+            // begin constraint data async GPU -> CPU transfer.
+            var sm = constraints[(int)Oni.ConstraintType.ShapeMatching] as ComputeShapeMatchingConstraints;
+            if (sm != null)
+                sm.RequestDataReadback();
+
+            // needed for tearing.
+            var dm = constraints[(int)Oni.ConstraintType.Distance] as ComputeDistanceConstraints;
+            if (dm != null)
+                dm.RequestDataReadback();
+
+            var pm = constraints[(int)Oni.ConstraintType.Pin] as ComputePinConstraints;
+            if (pm != null)
+                pm.RequestDataReadback();
+        }
+
+        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
+        {
+            m_InertialFrame = new InertialFrame(translation, scale, rotation);
+        }
+
+        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
+        {
+            m_InertialFrame.Update(translation, scale, rotation, deltaTime);
+
+            solverToWorldArray[0] = m_InertialFrame.frame;
+            solverToWorldBuffer.SetData(solverToWorldArray);
+
+            worldToSolverArray[0] = m_InertialFrame.frame.Inverse();
+            worldToSolverBuffer.SetData(worldToSolverArray);
+
+            inertialFrameArray[0] = m_InertialFrame;
+            inertialFrameBuffer.SetData(inertialFrameArray);
+        }
+
+        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
+        {
+            if (activeParticleCount > 0)
+            {
+                // inverse linear part:
+                Matrix4x4 linear = Matrix4x4.TRS(Vector3.zero, inertialFrame.frame.rotation, new Vector3(1 / inertialFrame.frame.scale.x, 1 / inertialFrame.frame.scale.y, 1 / inertialFrame.frame.scale.z));
+                Matrix4x4 linearInv = Matrix4x4.Transpose(linear);
+
+                // non-inertial frame accelerations:
+                Vector4 angularVel = (linearInv * Matrix4x4.Scale(inertialFrame.angularVelocity) * linear).Diagonal();
+                Vector4 eulerAccel = (linearInv * Matrix4x4.Scale(inertialFrame.angularAcceleration) * linear).Diagonal();
+                Vector4 inertialAccel = linearInv * inertialFrame.acceleration;
+
+                int threadGroups = ComputeMath.ThreadGroupCount(activeParticleCount, 128);
+                solverShader.SetInt("particleCount", activeParticleCount);
+
+                solverShader.SetFloat("deltaTime", deltaTime);
+                solverShader.SetFloat("worldLinearInertiaScale", abstraction.worldLinearInertiaScale);
+                solverShader.SetFloat("worldAngularInertiaScale", abstraction.worldAngularInertiaScale);
+                solverShader.SetVector("angularVel", angularVel);
+                solverShader.SetVector("eulerAccel", eulerAccel);
+                solverShader.SetVector("inertialAccel", inertialAccel);
+
+                solverShader.SetBuffer(applyInertialForcesKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "positions", positionsBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "velocities", velocitiesBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "invMasses", invMassesBuffer);
+
+                solverShader.Dispatch(applyInertialForcesKernel, threadGroups, 1, 1);
+            }
+
+            return jobHandle;
+        }
+
+        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
+        {
+            if (indices.count > 0)
+            {
+                var deformableTrianglesBuffer = indices.AsComputeBuffer<int>();
+                var deformableUVsBuffer = uvs.AsComputeBuffer<Vector2>();
+
+                deformableTrisShader.SetBuffer(updateNormalsKernel, "deformableTriangles", deformableTrianglesBuffer);
+                deformableTrisShader.SetBuffer(updateNormalsKernel, "deformableTriangleUVs", deformableUVsBuffer);
+                deformableTrisShader.SetInt("triangleCount", deformableTriangleCount);
+            }
+        }
+
+        public void SetDeformableEdges(ObiNativeIntList indices)
+        {
+            if (indices.count > 0)
+            {
+                var deformableEdgesBuffer = indices.AsComputeBuffer<int>();
+
+                deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "deformableEdges", deformableEdgesBuffer);
+                deformableTrisShader.SetInt("edgeCount", deformableEdgeCount);
+            }
+        }
+
+        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
+        {
+            this.simplexCounts = counts;
+
+            if (simplices.count > 0)
+            {
+                boundsShader.SetInt("pointCount", simplexCounts.pointCount);
+                boundsShader.SetInt("edgeCount", simplexCounts.edgeCount);
+                boundsShader.SetInt("triangleCount", simplexCounts.triangleCount);
+
+                this.simplices = simplices.AsComputeBuffer<int>();
+                cellCoordsBuffer = abstraction.cellCoords.AsComputeBuffer<VInt4>();
+
+                if (simplexBounds == null || counts.simplexCount > simplexBounds.count)
+                {
+                    simplexBounds?.Dispose();
+                    simplexBounds = new GraphicsBuffer(GraphicsBuffer.Target.Structured, counts.simplexCount * 2, 32);
+
+                    reducedBounds?.Dispose();
+                    reducedBounds = new GraphicsBuffer(GraphicsBuffer.Target.Structured, ComputeMath.NextMultiple(counts.simplexCount * 2, 256), 32);
+                }
+
+                // Even though we usually store simplices for collision detection, the grid is reused for fluid meshing
+                // so the capacity we set should be at least the total amount of particles in the solver.
+                if (particleGrid != null)
+                {
+                    if (particleGrid.SetCapacity(Mathf.Max(counts.simplexCount, particleCount),
+                                            (uint)Mathf.Max(1, abstraction.maxParticleContacts),
+                                            (uint)Mathf.Max(1, abstraction.maxParticleNeighbors)))
+                    {
+                        // resize to maximum number of contacts:
+                        abstraction.colliderContacts.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.colliderContacts.SafeAsComputeBuffer<Oni.Contact>(GraphicsBuffer.Target.Counter);
+
+                        abstraction.particleContacts.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.particleContacts.SafeAsComputeBuffer<Oni.Contact>(GraphicsBuffer.Target.Counter);
+
+                        abstraction.contactEffectiveMasses.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.contactEffectiveMasses.SafeAsComputeBuffer<ContactEffectiveMasses>();
+
+                        abstraction.particleContactEffectiveMasses.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.particleContactEffectiveMasses.SafeAsComputeBuffer<ContactEffectiveMasses>();
+                    }
+                }
+            }
+            else
+                this.simplices = null;
+        }
+
+        public void SetActiveParticles(ObiNativeIntList indices)
+        {
+            // TODO: indices.computebuffer has been deleted when adding an item. We now need to
+            // update the compute buffer if needed.
+            if (indices.computeBuffer == null || indices.computeBuffer.count != indices.capacity)
+            {
+                //Debug.Log("create");
+                activeParticlesBuffer = indices.AsComputeBuffer<int>(indices.capacity);
+            }
+            else
+            {
+                //Debug.Log("update");
+                indices.UploadFullCapacity(); //unmaps the entire memory buffer up to capacity.
+            }
+
+            if (activeParticlesBuffer != null)
+            {
+                solverShader.SetBuffer(predictPositionsKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(updateVelocitiesKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(updatePositionsKernel, "activeParticles", activeParticlesBuffer);
+            }
+        }
+
+        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
+        {
+            if (activeParticleCount > 0 && reducedBounds != null)
+            {
+                boundsShader.SetFloat("deltaTime", stepTime);
+
+                int boundsCount = simplexCounts.simplexCount;
+                int threadGroups = ComputeMath.ThreadGroupCount(boundsCount, 256);
+
+                // at edit time, the collision materials buffer will be null since
+                // the collider world is not updated.
+                if (colliderGrid.materialsBuffer != null)
+                {
+                    boundsShader.SetBuffer(simplexBoundsKernel, "simplexBounds", simplexBounds);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "simplices", simplices);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "reducedBounds", reducedBounds);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "activeParticles", activeParticlesBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "positions", positionsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "velocities", velocitiesBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "principalRadii", principalRadiiBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "fluidMaterials", fluidMaterialsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "collisionMaterials", colliderGrid.materialsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "collisionMaterialIndices", collisionMaterialIndexBuffer);
+                    boundsShader.Dispatch(simplexBoundsKernel, threadGroups, 1, 1);
+                }
+                else
+                {
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "simplexBounds", simplexBounds);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "simplices", simplices);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "reducedBounds", reducedBounds);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "activeParticles", activeParticlesBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "positions", positionsBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "velocities", velocitiesBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "principalRadii", principalRadiiBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "fluidMaterials", fluidMaterialsBuffer);
+                    boundsShader.Dispatch(editSimplexBoundsKernel, threadGroups, 1, 1);
+                }
+
+                boundsShader.SetBuffer(boundsReductionKernel, "reducedBounds", reducedBounds);
+                do
+                {
+                    boundsShader.Dispatch(boundsReductionKernel, threadGroups, 1, 1);
+                    threadGroups = ComputeMath.ThreadGroupCount(boundsCount, 256);
+                    boundsCount /= 256;
+                }
+                while (threadGroups > 1);
+
+                boundsRequest = AsyncGPUReadback.Request(reducedBounds, 32, 0);
+            }
+
+            return inputDeps;
+        }
+
+        public void GetBounds(ref Vector3 min, ref Vector3 max)
+        {
+            // wait for last pending bounds async request:
+            boundsRequest.WaitForCompletion();
+            if (boundsRequest.done && !boundsRequest.hasError)
+                solverBounds = boundsRequest.GetData<Aabb>(0)[0];
+
+            min = solverBounds.min;
+            max = solverBounds.max;
+        }
+
+        public int GetConstraintCount(Oni.ConstraintType type)
+        {
+            /*if ((int)type > 0 && (int)type < constraints.Length)
+            {
+                int count = 0;
+                for (int i = 0; i < constraints[(int)type].Count; ++i)
+                {
+                    count += constraints[(int)type][i].GetConstraintCount();
+                }
+                return count;
+            }
+            return 0;*/
+            return 0;
+        }
+
+        public void SetParameters(Oni.SolverParameters parameters)
+        {
+            // These should be better passed using a constant buffer, but constant buffers do not work in 2021 :(
+            //https://issuetracker.unity3d.com/issues/compute-shader-is-not-using-defined-constants-when-setting-data-with-setconstantbuffer
+
+            solverShader.SetInt("mode", (int)parameters.mode);
+            solverShader.SetInt("interpolation", (int)parameters.interpolation);
+            solverShader.SetVector("gravity", parameters.gravity);
+            solverShader.SetFloat("damping", parameters.damping);
+            solverShader.SetFloat("sleepThreshold", parameters.sleepThreshold);
+            solverShader.SetFloat("collisionMargin", parameters.collisionMargin);
+            solverShader.SetFloat("maxVelocity", parameters.maxVelocity);
+            solverShader.SetFloat("maxAngularVelocity", parameters.maxAngularVelocity);
+        }
+
+        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
+        {
+            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
+        }
+
+        public void ParticleCountChanged(ObiSolver solver)
+        {
+            colorsBuffer = abstraction.colors.AsComputeBuffer<Vector4>();
+            positionsBuffer = abstraction.positions.AsComputeBuffer<Vector4>();
+            orientationsBuffer = abstraction.orientations.AsComputeBuffer<Quaternion>();
+            startPositionsBuffer = abstraction.startPositions.AsComputeBuffer<Vector4>();
+            endPositionsBuffer = abstraction.endPositions.AsComputeBuffer<Vector4>();
+            startOrientationsBuffer = abstraction.startOrientations.AsComputeBuffer<Quaternion>();
+            endOrientationsBuffer = abstraction.endOrientations.AsComputeBuffer<Quaternion>();
+            restPositionsBuffer = abstraction.restPositions.AsComputeBuffer<Vector4>();
+            restOrientationsBuffer = abstraction.restOrientations.AsComputeBuffer<Vector4>();
+            prevPositionsBuffer = abstraction.prevPositions.AsComputeBuffer<Vector4>();
+            prevOrientationsBuffer = abstraction.prevOrientations.AsComputeBuffer<Quaternion>();
+            renderablePositionsBuffer = abstraction.renderablePositions.AsComputeBuffer<Vector4>();
+            renderableOrientationsBuffer = abstraction.renderableOrientations.AsComputeBuffer<Quaternion>();
+            renderableRadiiBuffer = abstraction.renderableRadii.AsComputeBuffer<Vector4>();
+            collisionMaterialIndexBuffer = abstraction.collisionMaterials.AsComputeBuffer<int>();
+
+            angularVelocitiesBuffer = abstraction.angularVelocities.AsComputeBuffer<Vector4>();
+            invRotationalMassesBuffer = abstraction.invRotationalMasses.AsComputeBuffer<float>();
+            externalForcesBuffer = abstraction.externalForces.AsComputeBuffer<Vector4>();
+            externalTorquesBuffer = abstraction.externalTorques.AsComputeBuffer<Vector4>();
+            windBuffer = abstraction.wind.AsComputeBuffer<Vector4>();
+
+            velocitiesBuffer = abstraction.velocities.AsComputeBuffer<Vector4>();
+            principalRadiiBuffer = abstraction.principalRadii.AsComputeBuffer<Vector4>();
+            invMassesBuffer = abstraction.invMasses.AsComputeBuffer<float>();
+            phasesBuffer = abstraction.phases.AsComputeBuffer<int>();
+            filtersBuffer = abstraction.filters.AsComputeBuffer<int>();
+
+            lifeBuffer = abstraction.life.AsComputeBuffer<float>();
+            fluidDataBuffer = abstraction.fluidData.AsComputeBuffer<Vector4>();
+            userDataBuffer = abstraction.userData.AsComputeBuffer<Vector4>();
+            fluidInterfaceBuffer = abstraction.fluidInterface.AsComputeBuffer<Vector4>();
+            fluidMaterialsBuffer = abstraction.fluidMaterials.AsComputeBuffer<Vector4>();
+            anisotropiesBuffer = abstraction.anisotropies.AsComputeBuffer<Matrix4x4>();
+
+            normalsBuffer = abstraction.normals.AsComputeBuffer<Vector4>();
+            positionConstraintCountBuffer = abstraction.positionConstraintCounts.AsComputeBuffer<int>();
+            orientationConstraintCountBuffer = abstraction.orientationConstraintCounts.AsComputeBuffer<int>();
+
+            if (positionDeltasIntBuffer != null)
+            {
+                positionDeltasIntBuffer.Dispose();
+                positionDeltasIntBuffer = null;
+            }
+
+            if (abstraction.positionDeltas.count > 0)
+            {
+                positionDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.positionDeltas.count, abstraction.positionDeltas.stride);
+                positionDeltasIntBuffer.SetData(new Vector4[abstraction.positionDeltas.count]);
+            }
+
+            if (orientationDeltasIntBuffer != null)
+            {
+                orientationDeltasIntBuffer.Dispose();
+                orientationDeltasIntBuffer = null;
+            }
+
+            if (abstraction.orientationDeltas.count > 0)
+            {
+                orientationDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.orientationDeltas.count, abstraction.orientationDeltas.stride);
+                orientationDeltasIntBuffer.SetData(new Vector4[abstraction.orientationDeltas.count]);
+            }
+
+            if (normalsIntBuffer != null)
+            {
+                normalsIntBuffer.Dispose();
+                normalsIntBuffer = null;
+            }
+
+            if (tangentsIntBuffer != null)
+            {
+                tangentsIntBuffer.Dispose();
+                tangentsIntBuffer = null;
+            }
+
+            if (abstraction.normals.count > 0)
+            {
+                var zeroes = new VInt4[abstraction.normals.count];
+                normalsIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.normals.count, abstraction.normals.stride);
+                normalsIntBuffer.SetData(zeroes);
+
+                tangentsIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.normals.count, abstraction.normals.stride);
+                tangentsIntBuffer.SetData(zeroes);
+            }
+
+            if (positionsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "velocities", velocitiesBuffer);
+            if (invMassesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "invMasses", invMassesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "angularVelocities", angularVelocitiesBuffer);
+            if (invRotationalMassesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "invRotationalMasses", invRotationalMassesBuffer);
+            if (externalForcesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "externalForces", externalForcesBuffer);
+            if (externalTorquesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "externalTorques", externalTorquesBuffer);
+            if (phasesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "phases", phasesBuffer);
+            if (fluidInterfaceBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "buoyancies", fluidInterfaceBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "velocities", velocitiesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "angularVelocities", angularVelocitiesBuffer);
+            if (invMassesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "invMasses", invMassesBuffer);
+            if (invRotationalMassesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "invRotationalMasses", invRotationalMassesBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "velocities", velocitiesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "angularVelocities", angularVelocitiesBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "positions", positionsBuffer);
+            if (startPositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "R_startPositions", startPositionsBuffer);
+            if (endPositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "R_endPositions", endPositionsBuffer);
+            if (renderablePositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderablePositions", renderablePositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "orientations", orientationsBuffer);
+            if (startOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "R_startOrientations", startOrientationsBuffer);
+            if (endOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "R_endOrientations", endOrientationsBuffer);
+            if (renderableOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderableOrientations", renderableOrientationsBuffer);
+            if (principalRadiiBuffer != null) solverShader.SetBuffer(interpolateKernel, "principalRadii", principalRadiiBuffer);
+            if (renderableRadiiBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderableRadii", renderableRadiiBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "positions", positionsBuffer);
+            if (startPositionsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "startPositions", startPositionsBuffer);
+            if (endPositionsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "endPositions", endPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "orientations", orientationsBuffer);
+            if (startOrientationsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "startOrientations", startOrientationsBuffer);
+            if (endOrientationsBuffer != null) solverShader.SetBuffer(storeStartStateKernel, "endOrientations", endOrientationsBuffer);
+        }
+
+        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+            auxPositions?.Dispose();
+            auxVelocities?.Dispose();
+            auxColors?.Dispose();
+            auxAttributes?.Dispose();
+            auxOffsetInCell?.Dispose();
+            auxSortedToOriginal?.Dispose();
+
+            if (m_Solver.maxFoamParticles > 0)
+            {
+                solver.foamPositions.AsComputeBuffer<Vector4>();
+                solver.foamVelocities.AsComputeBuffer<Vector4>();
+                solver.foamColors.AsComputeBuffer<Vector4>();
+                solver.foamAttributes.AsComputeBuffer<Vector4>();
+
+                auxPositions = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxVelocities = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxColors = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxAttributes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxOffsetInCell = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 4);
+                auxSortedToOriginal = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 4);
+            }
+        }
+
+        public void SetRigidbodyArrays(ObiSolver solver)
+        {
+            rigidbodyLinearDeltasBuffer = solver.rigidbodyLinearDeltas.SafeAsComputeBuffer<Vector4>();
+            rigidbodyAngularDeltasBuffer = solver.rigidbodyAngularDeltas.SafeAsComputeBuffer<Vector4>();
+
+            if (rigidbodyLinearDeltasIntBuffer != null)
+            {
+                rigidbodyLinearDeltasIntBuffer.Dispose();
+                rigidbodyLinearDeltasIntBuffer = null;
+            }
+
+            if (rigidbodyAngularDeltasIntBuffer != null)
+            {
+                rigidbodyAngularDeltasIntBuffer.Dispose();
+                rigidbodyAngularDeltasIntBuffer = null;
+            }
+
+            rigidbodyLinearDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, rigidbodyLinearDeltasBuffer.count, solver.rigidbodyLinearDeltas.stride);
+            rigidbodyLinearDeltasIntBuffer.SetData(new Vector4[rigidbodyLinearDeltasBuffer.count]);
+
+            rigidbodyAngularDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, rigidbodyAngularDeltasBuffer.count, solver.rigidbodyAngularDeltas.stride);
+            rigidbodyAngularDeltasIntBuffer.SetData(new Vector4[rigidbodyAngularDeltasBuffer.count]);
+        }
+
+        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type)
+        {
+            if (constraints[(int)type] != null)
+                return constraints[(int)type].CreateConstraintsBatch();
+            return null;
+        }
+
+        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
+        {
+            if (batch != null && constraints[(int)batch.constraintType] != null)
+                constraints[(int)batch.constraintType].RemoveBatch(batch);
+        }
+
+        public void FinishSimulation()
+        {
+            // Make sure GPU->CPU readbacks have finished.
+            // by default, only positions and velocities are read back.
+            // ObiActors can request whatever data they need in RequestData,
+            // then wait for it in SimulationEnd.
+            abstraction.positions.WaitForReadback();
+            abstraction.velocities.WaitForReadback();
+
+            abstraction.rigidbodyLinearDeltas.WaitForReadback();
+            abstraction.rigidbodyAngularDeltas.WaitForReadback();
+
+            var sm = constraints[(int)Oni.ConstraintType.ShapeMatching] as ComputeShapeMatchingConstraints;
+            if (sm != null)
+                sm.WaitForReadback();
+
+            var dm = constraints[(int)Oni.ConstraintType.Distance] as ComputeDistanceConstraints;
+            if (dm != null)
+                dm.WaitForReadback();
+
+            var pm = constraints[(int)Oni.ConstraintType.Pin] as ComputePinConstraints;
+            if (pm != null)
+                pm.WaitForReadback();
+
+            abstraction.externalForces.WipeToZero();
+            abstraction.externalTorques.WipeToZero();
+            abstraction.externalForces.Upload();
+            abstraction.externalTorques.Upload();
+
+            // copy end to start positions.
+            abstraction.startPositions.CopyFrom(abstraction.endPositions);
            abstraction.startOrientations.CopyFrom(abstraction.endOrientations);
+
+            // now that we got position / orientation data in the CPU set them as this step's end positions / orientations.
+            abstraction.endPositions.CopyFrom(abstraction.positions);
            abstraction.endOrientations.CopyFrom(abstraction.orientations);
+
+            abstraction.startPositions.Upload(true);
+            abstraction.startOrientations.Upload(true);
+            abstraction.endPositions.Upload(true);
+            abstraction.endOrientations.Upload(true);
+        }
+
+        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
+        {
+            var collisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            var particleCollisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);
+
+            if (particleCollisionParameters.enabled ||
+                densityParameters.enabled)
            {
+                UpdateFoamDensity();
+
+                UnityEngine.Profiling.Profiler.BeginSample("Build Simplex Grid");
+                particleGrid.BuildGrid(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+
+                if (densityParameters.enabled)
                {
+                    UnityEngine.Profiling.Profiler.BeginSample("Generate Fluid Neighborhoods");
+                    particleGrid.GenerateFluidNeighborhoods(this);
+                    UnityEngine.Profiling.Profiler.EndSample();
+                }
+
+                if (particleCollisionParameters.enabled)
                {
+                    UnityEngine.Profiling.Profiler.BeginSample("Generate Particle Contacts");
+                    particleGrid.GenerateContacts(this);
+                    UnityEngine.Profiling.Profiler.EndSample();
+                }
+            }
+
+            if (collisionParameters.enabled)
+            {
+                UnityEngine.Profiling.Profiler.BeginSample("Generate Collider Contacts");
+                colliderGrid.GenerateContacts(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+
+                UnityEngine.Profiling.Profiler.BeginSample("Apply Force Zones");
+                colliderGrid.ApplyForceZones(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+            }
+
+            return inputDeps;
+        }
+
+        public IObiJobHandle Substep(IObiJobHandle handle, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // if there's no active particles yet, don't do anything:
+            if (activeParticleCount > 0)
+            {
+                int threadGroups = ComputeMath.ThreadGroupCount(activeParticleCount, 128);
+                solverShader.SetInt("particleCount", activeParticleCount);
+
+                solverShader.SetFloat("deltaTime", substepTime);
+                solverShader.SetFloat("velocityScale", Mathf.Pow(1 - Mathf.Clamp(m_Solver.parameters.damping, 0, 1), substepTime));
+
+                // Apply aerodynamics
+                constraints[(int)Oni.ConstraintType.Aerodynamics].Project(stepTime, substepTime, steps, timeLeft);
+
+                // Predict positions:
+                solverShader.Dispatch(predictPositionsKernel, threadGroups, 1, 1);
+
+                ApplyConstraints(stepTime, substepTime, steps, timeLeft);
+
+                // Update velocities;
+                solverShader.Dispatch(updateVelocitiesKernel, threadGroups, 1, 1);
+
+                // Postprocess velocities:
+                ApplyVelocityCorrections(substepTime);
+
+                // Update positions:
+                solverShader.Dispatch(updatePositionsKernel, threadGroups, 1, 1);
+            }
+
+            // Update diffuse particles:
+            int substepsLeft = Mathf.RoundToInt(timeLeft / substepTime);
+            int foamPadding = Mathf.CeilToInt(abstraction.substeps / (float)abstraction.foamSubsteps);
+
+            if (substepsLeft % foamPadding == 0)
+                UpdateDiffuseParticles(substepTime * foamPadding);
+
+            return handle;
+        }
+
+        private void ApplyVelocityCorrections(float deltaTime)
+        {
+            var densityParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
+
+            if (densityParameters.enabled)
+            {
+                var d = constraints[(int)Oni.ConstraintType.Density] as ComputeDensityConstraints;
+                if (d != null)
+                    d.ApplyVelocityCorrections(deltaTime);
+            }
+        }
+
+        private void ApplyConstraints(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            // calculate max amount of iterations required, and initialize constraints..
+            int maxIterations = 0;
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled)
                {
                    maxIterations = Mathf.Max(maxIterations, parameters.iterations);
                    constraints[i].Initialize(substepTime);
                }
            }
+
+            // calculate iteration paddings:
+            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled && parameters.iterations > 0)
                    padding[i] = Mathf.CeilToInt(maxIterations / (float)parameters.iterations);
                else
                    padding[i] = maxIterations;
            }
+
+            // perform projection iterations:
+            for (int i = 1; i < maxIterations; ++i)
            {
                for (int j = 0; j < Oni.ConstraintTypeCount; ++j)
                {
                    if (j != (int)Oni.ConstraintType.Aerodynamics)
                    {
                        var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)j);
                        if (parameters.enabled && i % padding[j] == 0)
                            constraints[j].Project(stepTime, substepTime, substeps, timeLeft);
                    }
                }
            }
+
+            // final iteration, all groups together:
+            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                if (i != (int)Oni.ConstraintType.Aerodynamics)
                {
                    var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                    if (parameters.enabled && parameters.iterations > 0)
                        constraints[i].Project(stepTime, substepTime, substeps, timeLeft);
                }
            }
+
+            // Despite friction constraints being applied after collision (since coulomb friction depends on normal impulse)
+            // we perform a collision iteration right at the end to ensure the final state meets the Signorini-Fichera conditions.
+            var param = m_Solver.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            if (param.enabled && param.iterations > 0)
                constraints[(int)Oni.ConstraintType.ParticleCollision].Project(stepTime, substepTime, substeps, timeLeft);
            param = m_Solver.GetConstraintParameters(Oni.ConstraintType.Collision);
            if (param.enabled && param.iterations > 0)
                constraints[(int)Oni.ConstraintType.Collision].Project(stepTime, substepTime, substeps, timeLeft);
+        }
+
+        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
+        {
+            if (particleCount <= 0)
+                return inputDeps;
+
+            int threadGroups = ComputeMath.ThreadGroupCount(particleCount, 128);
+            solverShader.SetInt("particleCount", particleCount);
+
+            solverShader.SetFloat("deltaTime", stepTime);
+            solverShader.SetFloat("blendFactor", stepTime > 0 ? unsimulatedTime / stepTime : 0);
+            solverShader.SetInt("interpolate", (int)m_Solver.parameters.interpolation);
+
+            // Interpolate particle state:
+            solverShader.Dispatch(interpolateKernel, threadGroups, 1, 1);
+
+            // Reset normals:
+            if ((deformableTriangleCount > 0 || deformableEdgeCount > 0) && normalsIntBuffer != null)
+            {
+                threadGroups = ComputeMath.ThreadGroupCount(normalsIntBuffer.count, 128);
+                deformableTrisShader.SetInt("normalsCount", normalsIntBuffer.count);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "phases", phasesBuffer);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "normals", normalsIntBuffer);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "tangents", tangentsIntBuffer);
+
+                deformableTrisShader.Dispatch(resetNormalsKernel, threadGroups, 1, 1);
+
+                // Update deformable triangle normals
+                if (deformableTriangleCount > 0)
+                {
+                    threadGroups = ComputeMath.ThreadGroupCount(deformableTriangleCount, 128);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "renderablePositions", renderablePositionsBuffer);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "normals", normalsIntBuffer);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "tangents", tangentsIntBuffer);
+
+                    deformableTrisShader.Dispatch(updateNormalsKernel, threadGroups, 1, 1);
+                }
+
+                // Update deformable edge normals
+                if (deformableEdgeCount > 0)
+                {
+                    threadGroups = ComputeMath.ThreadGroupCount(deformableEdgeCount, 128);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "renderablePositions", renderablePositionsBuffer);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "wind", windBuffer);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "normals", normalsIntBuffer);
+
+                    deformableTrisShader.Dispatch(updateEdgeNormalsKernel, threadGroups, 1, 1);
+                }
+
+                // Update particle orientations
+                threadGroups = ComputeMath.ThreadGroupCount(normalsIntBuffer.count, 128);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "phases", phasesBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "renderableOrientations", renderableOrientationsBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "normals", normalsIntBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "tangents", tangentsIntBuffer);
+
+                deformableTrisShader.Dispatch(orientationFromNormalsKernel, threadGroups, 1, 1);
+            }
+
+            //make sure density constraints are enabled, otherwise particles have no neighbors and neighbor lists will be uninitialized.
+            var param = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
            if (param.enabled && param.iterations > 0)
+            {
+                // Fluid laplacian/anisotropy (only if we're in play mode, in-editor we have no particlegrid/sorted data).
+                var d = constraints[(int)Oni.ConstraintType.Density] as ComputeDensityConstraints;
+                if (Application.isPlaying && d != null)
+                    d.CalculateAnisotropyLaplacianSmoothing();
+            }
+
+            return inputDeps;
+        }
+
+        private void UpdateFoamDensity()
+        {
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as ComputeFoamRenderSystem;
+            if (system != null && m_Solver.maxFoamParticles > 0 && particleGrid.cellCounts != null)
+            {
+                for (int i = 0; i < system.renderers.Count; ++i)
+                {
+                    // solver indices compute buffer may be null 
+                    if (system.renderers[i].pressure > 0 && 
+                        system.renderers[i].actor.solverIndices?.computeBuffer != null)
+                    {
+                        float scale = 0.01f + Mathf.Clamp01(1 - system.renderers[i].density);
+                        float radius = system.renderers[i].size * scale;
+
+                        int cellThreadGroups = ComputeMath.ThreadGroupCount(particleGrid.cellCounts.count, 128);
+                        foamDensityShader.SetInt("maxCells", particleGrid.cellCounts.count);
+                        foamDensityShader.SetInt("maxFoamParticles", abstraction.foamPositions.computeBuffer.count);
+                        foamDensityShader.SetInt("mode", (int)abstraction.parameters.mode);
+                        foamDensityShader.SetFloat("pressure", system.renderers[i].pressure);
+                        foamDensityShader.SetFloat("particleRadius", radius);
+                        foamDensityShader.SetFloat("smoothingRadius", radius * 2 * system.renderers[i].smoothingRadius);
+                        foamDensityShader.SetFloat("invMass", 1000 * Mathf.Pow(radius * 2, 3 - (int)abstraction.parameters.mode));
+                        foamDensityShader.SetFloat("surfaceTension", system.renderers[i].surfaceTension);
+
+                        foamDensityShader.SetBuffer(clearGridKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(clearGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.Dispatch(clearGridKernel, cellThreadGroups, 1, 1);
+
+                        foamDensityShader.SetBuffer(insertGridKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(insertGridKernel, "offsetInCell", auxOffsetInCell); 
+                        foamDensityShader.SetBuffer(insertGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(insertGridKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(insertGridKernel, abstraction.foamCount.computeBuffer);
+
+                        // prefix sum
+                        particleGrid.cellsPrefixSum.Sum(particleGrid.cellCounts, particleGrid.cellOffsets);
+
+                        foamDensityShader.SetBuffer(sortByGridKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "sortedToOriginal", auxSortedToOriginal);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "offsetInCell", auxOffsetInCell);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(sortByGridKernel, abstraction.foamCount.computeBuffer);
+
+                        foamDensityShader.SetBuffer(computeDensityKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "fluidData", auxVelocities);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(computeDensityKernel, abstraction.foamCount.computeBuffer);
+
+                        foamDensityShader.SetBuffer(applyDensityKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "sortedToOriginal", auxSortedToOriginal);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "fluidData", auxVelocities);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(applyDensityKernel, abstraction.foamCount.computeBuffer);
+                    }
+                }
+            }
+            else
+                activeFoamParticleCount = 0;
+        }
+
+        private void UpdateDiffuseParticles(float deltaTime)
+        {
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as ComputeFoamRenderSystem;
+            if (system != null && m_Solver.maxFoamParticles > 0 && particleGrid.sortedUserDataColor != null)
+            {
+                foamShader.SetFloat("deltaTime", deltaTime);
+                foamShader.SetVector("gravity", m_Solver.parameters.gravity * m_Solver.parameters.foamGravityScale);
+                foamShader.SetVector("agingOverPopulation", new Vector3(m_Solver.foamAccelAgingRange.x, m_Solver.foamAccelAgingRange.y, m_Solver.foamAccelAging));
+                foamShader.SetInt("maxFoamParticles", abstraction.foamPositions.computeBuffer.count);
+                foamShader.SetInt("maxCells", particleGrid.maxCells);
+
+                foamShader.SetInt("pointCount", simplexCounts.pointCount);
+                foamShader.SetInt("edgeCount", simplexCounts.edgeCount);
+                foamShader.SetInt("triangleCount", simplexCounts.triangleCount);
+
+                foamShader.SetBuffer(sortDataKernel, "positions", prevPositionsBuffer);
+                foamShader.SetBuffer(sortDataKernel, "velocities", velocitiesBuffer);
+                foamShader.SetBuffer(sortDataKernel, "orientations", renderableOrientationsBuffer);
+                foamShader.SetBuffer(sortDataKernel, "principalRadii", renderableRadiiBuffer);
+                foamShader.SetBuffer(sortDataKernel, "sortedPositions", particleGrid.sortedPositions);
+                foamShader.SetBuffer(sortDataKernel, "sortedVelocities", particleGrid.sortedFluidDataVel);
+                foamShader.SetBuffer(sortDataKernel, "sortedOrientations", particleGrid.sortedPrevPosOrientations);
+                foamShader.SetBuffer(sortDataKernel, "sortedRadii", particleGrid.sortedPrincipalRadii);
+                foamShader.SetBuffer(sortDataKernel, "sortedToOriginal", particleGrid.sortedFluidIndices);
+                foamShader.SetBuffer(sortDataKernel, "fluidMaterial", fluidMaterialsBuffer);
+                foamShader.SetBuffer(sortDataKernel, "fluidData", fluidDataBuffer);
+                foamShader.SetBuffer(sortDataKernel, "dispatch", fluidDispatchBuffer);
+                foamShader.DispatchIndirect(sortDataKernel, fluidDispatchBuffer);
+
+                int threadGroups;
+                foamShader.SetBuffer(emitFoamKernel, "positions", prevPositionsBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "velocities", velocitiesBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "angularVelocities", angularVelocitiesBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "principalRadii", principalRadiiBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                for (int i = 0; i < system.renderers.Count; ++i)
+                {
+                    // solver indices compute buffer may be null 
+                    if (system.renderers[i].actor.solverIndices?.computeBuffer != null)
+                    {
+                        threadGroups = ComputeMath.ThreadGroupCount(system.renderers[i].actor.activeParticleCount, 128);
+                        foamShader.SetInt("activeParticleCount", system.renderers[i].actor.activeParticleCount);
+                        foamShader.SetVector("vorticityRange", system.renderers[i].vorticityRange);
+                        foamShader.SetVector("velocityRange", system.renderers[i].velocityRange);
+                        foamShader.SetFloat("foamGenerationRate", system.renderers[i].foamGenerationRate);
+                        foamShader.SetFloat("potentialIncrease", system.renderers[i].foamPotential);
+                        foamShader.SetFloat("potentialDiffusion", Mathf.Pow(1 - Mathf.Clamp01(system.renderers[i].foamPotentialDiffusion), deltaTime));
+                        foamShader.SetFloat("buoyancy", system.renderers[i].buoyancy);
+                        foamShader.SetFloat("drag", system.renderers[i].drag);
+                        foamShader.SetFloat("airDrag", Mathf.Pow(1 - Mathf.Clamp01(system.renderers[i].atmosphericDrag), deltaTime));
+                        foamShader.SetFloat("airAging", system.renderers[i].airAging);
+                        foamShader.SetFloat("isosurface", system.renderers[i].isosurface);
+
+                        foamShader.SetFloat("particleSize", system.renderers[i].size);
+                        foamShader.SetFloat("sizeRandom", system.renderers[i].sizeRandom);
+                        foamShader.SetFloat("lifetime", system.renderers[i].lifetime);
+                        foamShader.SetFloat("lifetimeRandom", system.renderers[i].lifetimeRandom);
+                        foamShader.SetVector("foamColor", system.renderers[i].color);
+
+                        foamShader.SetBuffer(emitFoamKernel, "activeParticles", system.renderers[i].actor.solverIndices.computeBuffer);
+                        foamShader.Dispatch(emitFoamKernel, threadGroups, 1, 1);
+                    }
+                }
+
+                foamShader.SetBuffer(copyAliveKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.Dispatch(copyAliveKernel, 1, 1, 1);
+
+                foamShader.SetBuffer(updateFoamKernel, "cellOffsets", particleGrid.cellOffsets);
+                foamShader.SetBuffer(updateFoamKernel, "cellCounts", particleGrid.cellCounts);
+                foamShader.SetBuffer(updateFoamKernel, "gridHashToSortedIndex", particleGrid.cellHashToMortonIndex);
+                foamShader.SetBuffer(updateFoamKernel, "levelPopulation", particleGrid.levelPopulation);
+                foamShader.SetBuffer(updateFoamKernel, "solverBounds", reducedBounds);
+
+                foamShader.SetBuffer(updateFoamKernel, "positions", particleGrid.sortedPositions);
+                foamShader.SetBuffer(updateFoamKernel, "orientations", particleGrid.sortedPrevPosOrientations);
+                foamShader.SetBuffer(updateFoamKernel, "principalRadii", particleGrid.sortedPrincipalRadii);
+                foamShader.SetBuffer(updateFoamKernel, "velocities", particleGrid.sortedFluidDataVel);
+                foamShader.SetBuffer(updateFoamKernel, "fluidSimplices", particleGrid.sortedSimplexToFluid);
+                foamShader.SetBuffer(updateFoamKernel, "sortedToOriginal", particleGrid.sortedFluidIndices);
+                foamShader.SetBuffer(updateFoamKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "outputPositions", auxPositions);
+                foamShader.SetBuffer(updateFoamKernel, "outputVelocities", auxVelocities);
+                foamShader.SetBuffer(updateFoamKernel, "outputColors", auxColors);
+                foamShader.SetBuffer(updateFoamKernel, "outputAttributes", auxAttributes);
+                foamShader.SetBuffer(updateFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.DispatchIndirect(updateFoamKernel, abstraction.foamCount.computeBuffer);
+
+                // copy aux buffers to solver buffers:
+                foamShader.SetBuffer(copyKernel, "inputPositions", auxPositions);
+                foamShader.SetBuffer(copyKernel, "inputVelocities", auxVelocities);
+                foamShader.SetBuffer(copyKernel, "inputColors", auxColors);
+                foamShader.SetBuffer(copyKernel, "inputAttributes", auxAttributes);
+                foamShader.SetBuffer(copyKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.DispatchIndirect(copyKernel, abstraction.foamCount.computeBuffer, 16);
+
+                AsyncGPUReadback.Request(abstraction.foamCount.computeBuffer, 4, 12, (AsyncGPUReadbackRequest obj) =>
+                {
+                    if (obj.done && !obj.hasError)
+                        this.activeFoamParticleCount = obj.GetData<uint>()[0];
+                });
+            }
+            else
+                activeFoamParticleCount = 0;
+        }
+
+        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
        {
+            if (abstraction.queryResults.count != abstraction.maxQueryResults)
+            {
+                abstraction.queryResults.ResizeUninitialized((int)abstraction.maxQueryResults);
+                abstraction.queryResults.SafeAsComputeBuffer<QueryResult>(GraphicsBuffer.Target.Counter);
+            }
+
+            spatialQueries.SpatialQuery(this, shapes.SafeAsComputeBuffer<QueryShape>(),
+                                              transforms.SafeAsComputeBuffer<AffineTransform>(),
+                                              results.computeBuffer);
+        }
+
+        public int GetParticleGridSize()
+        {
+            //return particleGrid.grid.usedCells.Length;
+            return 0;
+        }
+        public void GetParticleGrid(ObiNativeAabbList cells)
+        {
+            //particleGrid.GetCells(cells);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta
new file mode 100644
index 00000000..53995cd7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9bd37b35dc8b04d69bd0c88ac12b2c5d
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface.meta
new file mode 100644
index 00000000..21a345be
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface.meta
@@ -0,0 +1,8 @@
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+guid: d4b76e41a8d95486abaf6cefe4451e85
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta
new file mode 100644
index 00000000..3d563385
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 26d4fb7ae70404953b2fe6daed5564d7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
new file mode 100644
index 00000000..56a124c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
@@ -0,0 +1,24 @@
+using UnityEngine;
+using System.Collections;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public interface IColliderWorldImpl
+    {
+        int referenceCount { get; }
+
+        void UpdateWorld(float deltaTime);
+
+        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms);
+        void SetForceZones(ObiNativeForceZoneList forceZones);
+        void SetRigidbodies(ObiNativeRigidbodyList rigidbody);
+
+        void SetCollisionMaterials(ObiNativeCollisionMaterialList materials);
+
+        void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices);
+        void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList triangles, ObiNativeVector2List vertices);
+        void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes);
+        void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta
new file mode 100644
index 00000000..074d487d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 89f411e99368641bda6ba6dd0864c8c6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig
new file mode 100644
index 00000000..640762fb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig
@@ -0,0 +1,27 @@
+using UnityEngine;
+using System.Collections;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public interface IColliderWorldImpl
+    {
+<<<<<<< HEAD
+        void UpdateWorld(float deltaTime);
+=======
+        int referenceCount { get; }
+
+        void UpdateWorld();
+>>>>>>> 56Hotfix
+
+        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count);
+        void SetRigidbodies(ObiNativeRigidbodyList rigidbody);
+
+        void SetCollisionMaterials(ObiNativeCollisionMaterialList materials);
+
+        void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices);
+        void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList triangles, ObiNativeVector2List vertices);
+        void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes);
+        void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta
new file mode 100644
index 00000000..3eac5a6a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta
@@ -0,0 +1,7 @@
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+guid: 1a37affa245de4938b08eb9ff13f2c13
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta
new file mode 100644
index 00000000..f569b9ec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta
@@ -0,0 +1,8 @@
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+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs
new file mode 100644
index 00000000..d895a735
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IAerodynamicConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..ec621fcb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a0f082ce0011f44c68afb3e08a94174f
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs
new file mode 100644
index 00000000..b193e7f5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IBendConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..7cf161a9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs
new file mode 100644
index 00000000..49771707
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IBendTwistConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restDarboux, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..dbf23c82
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 80c2392ca65914fdbac721d82d5266d5
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs
new file mode 100644
index 00000000..5cb62079
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IChainConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndex, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..c606a1e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs
new file mode 100644
index 00000000..89eeba09
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IColliderCollisionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..c1bf39c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs
new file mode 100644
index 00000000..8e5d68be
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IColliderFrictionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..b5cb7ccd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs
new file mode 100644
index 00000000..88141ec3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs
@@ -0,0 +1,29 @@
+
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IConstraintsBatchImpl
+    {
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        IConstraints constraints
+        {
+            get;
+        }
+
+        bool enabled
+        {
+            set;
+            get;
+        }
+
+        void Destroy();
+        void SetConstraintCount(int constraintCount);
+        int GetConstraintCount();
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..c35570b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs
new file mode 100644
index 00000000..27f4159b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs
@@ -0,0 +1,22 @@
+
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IConstraints
+    {
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        ISolverImpl solver
+        {
+            get;
+        }
+
+        int GetConstraintCount();
+    }
+
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta
new file mode 100644
index 00000000..f594dc1a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8198ad7e2d14140879a794fc8f90e61d
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs
new file mode 100644
index 00000000..d0784037
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IDensityConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..5cb2c6e0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs
new file mode 100644
index 00000000..0219bfdc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IDistanceConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..547a2780
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs
new file mode 100644
index 00000000..1228835f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IParticleCollisionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..206847c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e1fef58a2a6c74dd08e04b9df48f028e
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs
new file mode 100644
index 00000000..5bf2fb87
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IParticleFrictionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..93764bbf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs
new file mode 100644
index 00000000..3f934c7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IPinConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..49bf0532
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 339a70e0be9984072a153f58552747e7
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs
new file mode 100644
index 00000000..10ed3044
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+namespace Obi
+{
+    public interface IShapeMatchingConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetShapeMatchingConstraints(ObiNativeIntList particleIndices,
+                                         ObiNativeIntList firstIndex,
+                                         ObiNativeIntList numIndices,
+                                         ObiNativeIntList explicitGroup,
+                                         ObiNativeFloatList shapeMaterialParameters,
+                                         ObiNativeVector4List restComs,
+                                         ObiNativeVector4List coms,
+                                         ObiNativeQuaternionList orientations,
+                                         ObiNativeMatrix4x4List linearTransforms,
+                                         ObiNativeMatrix4x4List plasticDeformations,
+                                         ObiNativeFloatList lambdas,
+                                         int count);
+
+        void CalculateRestShapeMatching();
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..85a812c3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 793544a177038489599056d49197b4b7
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs
new file mode 100644
index 00000000..8d960137
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface ISkinConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..ada65b30
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 7c42e394fbac64742a7d3aae172e7750
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs
new file mode 100644
index 00000000..72b9bf6c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IStitchConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..94e46397
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: f42ef0ded9a564c599a8797894ea1d1e
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs
new file mode 100644
index 00000000..92ad6e7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IStretchShearConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..6287a9b8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4afb32b230ee849909c3b9b246b6a51e
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs
new file mode 100644
index 00000000..f4fb07ee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface ITetherConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..77342bd8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: b7ea8208967a0450a85e41d98a4f0f57
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs
new file mode 100644
index 00000000..ee1468b9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IVolumeConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetVolumeConstraints(ObiNativeIntList triangles,
+                                  ObiNativeIntList firstTriangle,
+                                  ObiNativeIntList numTriangles,
+                                  ObiNativeFloatList restVolumes,
+                                  ObiNativeVector2List pressureStiffness,
+                                  ObiNativeFloatList lambdas,
+                                  int count);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta
new file mode 100644
index 00000000..3ec9a34e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: f5f8748ef424c445d949c21d3528e6ee
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs
new file mode 100644
index 00000000..47e101f8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs
@@ -0,0 +1,18 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    /**
+     * Base class for backend implementations. 
+     */
+    public interface IObiBackend
+    {
+        #region Solver
+        ISolverImpl CreateSolver(ObiSolver solver, int capacity);
+        void DestroySolver(ISolverImpl solver);
+        #endregion
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta
new file mode 100644
index 00000000..7101122f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs
new file mode 100644
index 00000000..137e033a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs
@@ -0,0 +1,8 @@
+namespace Obi
+{
+    public interface IObiJobHandle
+    {
+        void Complete();
+        void Release();
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta
new file mode 100644
index 00000000..364b7d5f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2f2948e6b45fe44c09866380b7ebb2ff
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs
new file mode 100644
index 00000000..c27e279b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs
@@ -0,0 +1,40 @@
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+     * Simple pool to avoid allocating job handles at runtime. Only a small number of handles
+     * are expected, so once a handle is borrowed from the pool it cannot be individually returned: all
+     * borrowed handles are returned to the pool at the end of each step. 
+     */
+    public class JobHandlePool<T> where T : IObiJobHandle , new()
+    {
+        private List<T> pool;
+        private int borrowedHandles;
+
+        public JobHandlePool(int initialSize)
+        {
+            borrowedHandles = 0;
+            pool = new List<T>(initialSize);
+            for (int i = 0; i < initialSize; ++i)
+                pool.Add(new T());
+        }
+
+        public T Borrow()
+        {
+            // expand pool if needed (no pool doubling, simply add one extra handle).
+            if (borrowedHandles == pool.Count)
+                pool.Add(new T());
+
+            return pool[borrowedHandles++];
+        }
+
+        public void ReleaseAll()
+        {
+            borrowedHandles = 0;
+            for (int i = 0; i < pool.Count; ++i)
+                pool[i].Release();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta
new file mode 100644
index 00000000..f9be91f0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta
new file mode 100644
index 00000000..a168ded5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs
new file mode 100644
index 00000000..5ecb6a41
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs
@@ -0,0 +1,93 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IRenderSystem
+    {
+        void Setup(); // build meshes, prepare render state, etc.
+        void Step(); // update constraints (currently only used by skinned cloth)
+        void Render(); // do the actual rendering.
+
+        void Dispose();
+
+        uint tier { get { return 1; } }
+        Oni.RenderingSystemType typeEnum { get; }
+
+        bool isEmpty { get; }
+        Type GetRendererType();
+    }
+
+    public class RendererSet<T> where T : ObiRenderer<T>
+    {
+        private List<T> list = new List<T>();
+
+        public T this[int i]
+        {
+            get { return list[i]; }
+            set { list[i] = value; }
+        }
+
+        public int Count
+        {
+            get { return list.Count; }
+        }
+
+        public bool AddRenderer(T renderer)
+        {
+            // Even though using a HashSet would keep us from checking for
+            // duplicates in O(n), the only way to iterate trough a set
+            // causes GC. Since we iterate trough renderers every frame,
+            // but we only add new renderers once in a blue moon,
+            // it's preferable to use a list instead.
+
+            if (!list.Contains(renderer))
+            {
+                list.Add(renderer);
+                return true;
+            }
+            return false;
+        }
+
+        public int IndexOf(T renderer)
+        {
+            return list.IndexOf(renderer);
+        }
+
+        public IReadOnlyList<T> AsReadOnly()
+        {
+            return list.AsReadOnly();
+        }
+
+        public bool RemoveRenderer(T renderer)
+        {
+            return list.Remove(renderer);
+        }
+
+        public void Clear()
+        {
+            list.Clear();
+        }
+    }
+
+    public interface RenderSystem<T> : IRenderSystem where T : ObiRenderer<T>
+    {
+        RendererSet<T> renderers { get; }
+
+        Type IRenderSystem.GetRendererType() { return typeof(T); }
+
+        bool IRenderSystem.isEmpty
+        {
+            get { return renderers.Count == 0; }
+        }
+
+        public virtual bool AddRenderer(T renderer)
+        {
+            return renderers.AddRenderer(renderer);
+        }
+        public virtual bool RemoveRenderer(T renderer)
+        {
+            return renderers.RemoveRenderer(renderer);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta
new file mode 100644
index 00000000..2828c535
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta
new file mode 100644
index 00000000..f46f3719
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
new file mode 100644
index 00000000..fb40d70f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
@@ -0,0 +1,64 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public interface ISolverImpl
+    {
+        #region Lifecycle
+        void Destroy();
+        #endregion
+
+        #region Inertial Frame
+        void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation);
+        void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime);
+        IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime);
+        #endregion
+
+        #region Particles
+        void ParticleCountChanged(ObiSolver solver);
+        void MaxFoamParticleCountChanged(ObiSolver solver);
+        void SetActiveParticles(ObiNativeIntList indices);
+        uint activeFoamParticleCount { get; }
+        #endregion
+
+        #region Rigidbodies
+        void SetRigidbodyArrays(ObiSolver solver);
+        #endregion
+
+        #region Constraints
+        IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type);
+        void DestroyConstraintsBatch(IConstraintsBatchImpl batch);
+        int GetConstraintCount(Oni.ConstraintType type);
+        void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters);
+        #endregion
+
+        #region Update
+        IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime);
+        IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime);
+        IObiJobHandle Substep(IObiJobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
+        IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime);
+
+        void FinishSimulation();
+        void PushData();
+        void RequestReadback();
+        #endregion
+
+        #region Deformable shapes
+        void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs);
+        void SetDeformableEdges(ObiNativeIntList indices);
+        #endregion
+
+        #region Simplices
+        void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts);
+        #endregion
+
+        #region Utils
+        void SetParameters(Oni.SolverParameters parameters);
+        void GetBounds(ref Vector3 min, ref Vector3 max);
+        int GetParticleGridSize();
+        void GetParticleGrid(ObiNativeAabbList cells);
+        void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results);
+        #endregion
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs.meta
new file mode 100644
index 00000000..7f921dc2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Null.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null.meta
new file mode 100644
index 00000000..423fa904
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
new file mode 100644
index 00000000..10cc2d69
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
@@ -0,0 +1,15 @@
+namespace Obi
+{
+    public class NullBackend : IObiBackend
+    {
+        #region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new NullSolverImpl();
+        }
+        public void DestroySolver(ISolverImpl solver)
+        {
+        }
+        #endregion
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta
new file mode 100644
index 00000000..c1937b73
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta
@@ -0,0 +1,11 @@
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+guid: 821d5c08bf0f9459698d65c3aaabaf54
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
new file mode 100644
index 00000000..9e21824d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
@@ -0,0 +1,134 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public class NullSolverImpl : ISolverImpl
+    {
+        public uint activeFoamParticleCount { private set; get; }
+
+        public void Destroy()
+        {
+        }
+
+        public void PushData()
+        {
+        }
+        public void RequestReadback()
+        {
+        }
+
+        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
+        {
+        }
+
+        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
+        {
+        }
+
+        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
+        {
+            return null;
+        }
+
+        public IObiJobHandle ApplyForceZones(ObiNativeForceZoneList zones, ObiNativeAffineTransformList transforms)
+        {
+            return null;
+        }
+
+        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
+        {
+           
+        }
+
+        public void SetDeformableEdges(ObiNativeIntList indices)
+        {
+
+        }
+
+        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
+        {
+        }
+
+        public void ParticleCountChanged(ObiSolver solver)
+        {
+        }
+
+        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+
+        }
+
+        public void SetRigidbodyArrays(ObiSolver solver)
+        {
+        }
+
+        public void SetActiveParticles(ObiNativeIntList indices)
+        {
+        }
+
+        public void GetBounds(ref Vector3 min, ref Vector3 max)
+        {
+        }
+
+        public void SetParameters(Oni.SolverParameters parameters)
+        {
+        }
+
+        public int GetConstraintCount(Oni.ConstraintType type)
+        {
+            return 0;
+        }
+
+        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
+        {
+        }
+
+        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType constraintType)
+        {
+            return null;
+        }
+
+        public void DestroyConstraintsBatch(IConstraintsBatchImpl group)
+        {
+        }
+
+        public void FinishSimulation()
+        {
+
+        }
+
+        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
+        {
+            return null;
+        }
+
+        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
+        {
+            return null;
+        }
+
+        public IObiJobHandle Substep(IObiJobHandle inputDeps, float stepTime, float substepTime, int index, float timeLeft)
+        {
+            return null;
+        }
+
+        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
+        {
+            return null;
+        }
+
+        public int GetParticleGridSize()
+        {
+            return 0;
+        }
+
+        public void GetParticleGrid(ObiNativeAabbList cells)
+        {
+        }
+
+        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
+        {
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs.meta
new file mode 100644
index 00000000..4352d9f8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints.meta
new file mode 100644
index 00000000..415cf4b2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints.meta
new file mode 100644
index 00000000..60b71b4d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta
new file mode 100644
index 00000000..98445629
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs
new file mode 100644
index 00000000..66deaf90
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+
+    public interface IStructuralConstraintBatch
+    {
+        float GetRestLength(int index);
+        void SetRestLength(int index, float restLength);
+        ParticlePair GetParticleIndices(int index);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta
new file mode 100644
index 00000000..ab69460e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f23dea5b75e2c432282b0f62513267ed
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
new file mode 100644
index 00000000..6e7c6c3b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
@@ -0,0 +1,107 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiAerodynamicConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IAerodynamicConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// 3 floats per constraint: surface area, drag and lift.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList aerodynamicCoeffs = new ObiNativeFloatList();  
+
+        public override Oni.ConstraintType constraintType 
+        {
+            get { return Oni.ConstraintType.Aerodynamics; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiAerodynamicConstraintsBatch(ObiAerodynamicConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int index, float area, float drag, float lift)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(index);
+            aerodynamicCoeffs.Add(area);
+            aerodynamicCoeffs.Add(drag);
+            aerodynamicCoeffs.Add(lift);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index]);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            aerodynamicCoeffs.Clear();
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex, destIndex);
+            aerodynamicCoeffs.Swap(sourceIndex * 3, destIndex * 3);
+            aerodynamicCoeffs.Swap(sourceIndex * 3 + 1, destIndex * 3 + 1);
+            aerodynamicCoeffs.Swap(sourceIndex * 3 + 2, destIndex * 3 + 2);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiAerodynamicConstraintsBatch;
+            var user = actor as IAerodynamicConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.aerodynamicsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                aerodynamicCoeffs.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
+                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3] = batch.aerodynamicCoeffs[i*3];
+                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 1] = user.GetDrag(batch, i);
+                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 2] = user.GetLift(batch, i);
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IAerodynamicConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetAerodynamicConstraints(particleIndices, aerodynamicCoeffs, m_ActiveConstraintCount);
+           
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            aerodynamicCoeffs.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 00000000..3fabfe16
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
new file mode 100644
index 00000000..a1cf3528
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
@@ -0,0 +1,128 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiBendConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IBendConstraintsBatchImpl m_BatchImpl;   
+
+        /// <summary>
+        /// one float per constraint: the rest bend distance.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restBends = new ObiNativeFloatList();                
+
+        /// <summary>
+        /// two floats per constraint: max bending and compliance.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List bendingStiffnesses = new ObiNativeVector2List();
+
+        /// <summary>
+        /// two floats per constraint: plastic yield and creep.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List plasticity = new ObiNativeVector2List();
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Bending; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiBendConstraintsBatch(ObiBendConstraintsData constraints = null) : base()
+        {
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiBendConstraintsBatch;
+            var user = actor as IBendConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.bendConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+                restBends.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                bendingStiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                restBends.CopyFrom(batch.restBends, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                bendingStiffnesses.CopyReplicate(new Vector2(user.maxBending, user.bendCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
+                plasticity.CopyReplicate(new Vector2(user.plasticYield, user.plasticCreep), m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 3; ++i)
+                    particleIndices[m_ActiveConstraintCount * 3 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public void AddConstraint(Vector3Int indices, float restBend)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            particleIndices.Add(indices[2]);
+            restBends.Add(restBend);
+            bendingStiffnesses.Add(Vector2.zero);
+            plasticity.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            restBends.Clear();
+            bendingStiffnesses.Clear();
+            plasticity.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 3]);
+            particles.Add(particleIndices[index * 3 + 1]);
+            particles.Add(particleIndices[index * 3 + 2]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 3, destIndex * 3);
+            particleIndices.Swap(sourceIndex * 3 + 1 , destIndex * 3 + 1);
+            particleIndices.Swap(sourceIndex * 3 + 2, destIndex * 3 + 2);
+            restBends.Swap(sourceIndex, destIndex);
+            bendingStiffnesses.Swap(sourceIndex, destIndex);
+            plasticity.Swap(sourceIndex, destIndex);
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IBendConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetBendConstraints(particleIndices, restBends, bendingStiffnesses, plasticity, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            restBends.Dispose();
+            bendingStiffnesses.Dispose();
+            plasticity.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta
new file mode 100644
index 00000000..19f55f8d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
new file mode 100644
index 00000000..522dd193
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
@@ -0,0 +1,129 @@
+using UnityEngine;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiBendTwistConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IBendTwistConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// Rest darboux vector for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();            
+
+        /// <summary>
+        /// 3 compliance values for each constraint, one for each local axis (x,y,z)
+        /// </summary>
+        [HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();                             
+
+        /// <summary>
+        /// two floats per constraint: plastic yield and creep.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List plasticity = new ObiNativeVector2List();                            
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.BendTwist; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiBendTwistConstraintsBatch(ObiBendTwistConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, Quaternion restDarboux)
+        {
+            RegisterConstraint();
+
+            this.particleIndices.Add(indices[0]);
+            this.particleIndices.Add(indices[1]);
+            this.restDarbouxVectors.Add(restDarboux);
+            this.stiffnesses.Add(Vector3.zero);
+            this.plasticity.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            restDarbouxVectors.Clear();
+            stiffnesses.Clear();
+            plasticity.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            restDarbouxVectors.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+            plasticity.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiBendTwistConstraintsBatch;
+            var user = actor as IBendTwistConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.bendTwistConstraintsEnabled)
+                  return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    stiffnesses[m_ActiveConstraintCount + i] = user.GetBendTwistCompliance(batch, i);
+                    plasticity[m_ActiveConstraintCount + i] = user.GetBendTwistPlasticity(batch, i);
+                }
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IBendTwistConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetBendTwistConstraints(particleIndices, restDarbouxVectors, stiffnesses, plasticity, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            restDarbouxVectors.Dispose();
+            plasticity.Dispose();
+            stiffnesses.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 00000000..c4ab7a40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fd870f7d936fb46178a58eed5f6d4f7e
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 91de8d14a7b7a42d88d336323c428b20, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
new file mode 100644
index 00000000..1104490b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
@@ -0,0 +1,133 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiChainConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IChainConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// index of the first particle for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList firstParticle = new ObiNativeIntList();       
+
+        /// <summary>
+        /// number of particles for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList numParticles = new ObiNativeIntList();          
+
+        /// <summary>
+        /// min/max lenghts for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List lengths = new ObiNativeVector2List();  
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Chain; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiChainConstraintsBatch(ObiChainConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] indices, float restLength, float stretchStiffness, float compressionStiffness)
+        {
+            RegisterConstraint();
+
+            firstParticle.Add((int)particleIndices.count);
+            numParticles.Add((int)indices.Length);
+            particleIndices.AddRange(indices);
+            lengths.Add(new Vector2(restLength, restLength));
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            firstParticle.Clear();
+            numParticles.Clear();
+            lengths.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            //TODO.
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstParticle.Swap(sourceIndex, destIndex);
+            numParticles.Swap(sourceIndex, destIndex);
+            lengths.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiChainConstraintsBatch;
+            var user = actor as IChainConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.chainConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                int numActiveIndices = 0;
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    numActiveIndices += batch.numParticles[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
+                firstParticle.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                numParticles.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numParticles.CopyFrom(batch.numParticles, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveIndices; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    firstParticle[m_ActiveConstraintCount + i] = batch.firstParticle[i] + initialIndexCount;
+                    lengths[m_ActiveConstraintCount + i] = new Vector2(batch.lengths[i].y * user.tightness, batch.lengths[i].y);
+                }
+
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IChainConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetChainConstraints(particleIndices, lengths, firstParticle, numParticles, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            firstParticle.Dispose();
+            numParticles.Dispose();
+            lengths.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta
new file mode 100644
index 00000000..ae544fbb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4a957d8a661ad464085e9f64cfc57406
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
new file mode 100644
index 00000000..53c42dff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
@@ -0,0 +1,212 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IObiConstraintsBatch
+    {
+        int constraintCount
+        {
+            get;
+        }
+
+        int activeConstraintCount
+        {
+            get;
+            set;
+        }
+
+        int initialActiveConstraintCount
+        {
+            get;
+            set;
+        }
+
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        IConstraintsBatchImpl implementation
+        {
+            get;
+        }
+
+        void AddToSolver(ObiSolver solver);
+        void RemoveFromSolver(ObiSolver solver);
+
+        void Merge(ObiActor actor, IObiConstraintsBatch other);
+
+        bool DeactivateConstraint(int constraintIndex);
+        bool ActivateConstraint(int constraintIndex);
+        void DeactivateAllConstraints();
+        void ActivateAllConstraints();
+
+        void Clear();
+
+        void GetParticlesInvolved(int index, List<int> particles);
+        void ParticlesSwapped(int index, int newIndex);
+    }
+
+    public abstract class ObiConstraintsBatch : IObiConstraintsBatch
+    {
+        [HideInInspector] [SerializeField] protected List<int> m_IDs = new List<int>();
+        [HideInInspector] [SerializeField] protected List<int> m_IDToIndex = new List<int>();         /**< maps from constraint ID to constraint index. When activating/deactivating constraints, their order changes. That makes this
+                                                         map necessary. All active constraints are at the beginning of the constraint arrays, in the 0, activeConstraintCount index range.*/
+
+        [HideInInspector] [SerializeField] protected int m_ConstraintCount = 0;
+        [HideInInspector] [SerializeField] protected int m_ActiveConstraintCount = 0;
+        [HideInInspector] [SerializeField] protected int m_InitialActiveConstraintCount = 0;
+
+        [HideInInspector] public ObiNativeIntList particleIndices = new ObiNativeIntList();  /**< particle indices, amount of them per constraint can be variable. */
+        [HideInInspector] public ObiNativeFloatList lambdas = new ObiNativeFloatList();      /**< constraint lambdas */
+
+        public int constraintCount
+        {
+            get { return m_ConstraintCount; }
+        }
+
+        public int activeConstraintCount
+        {
+            get { return m_ActiveConstraintCount; }
+            set { m_ActiveConstraintCount = value; }
+        }
+
+        public virtual int initialActiveConstraintCount
+        {
+            get { return m_InitialActiveConstraintCount; }
+            set { m_InitialActiveConstraintCount = value; }
+        }
+
+        public abstract Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        public abstract IConstraintsBatchImpl implementation
+        {
+            get;
+        }
+
+        // Merges a batch from a given actor with this one.
+        public virtual void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            m_ConstraintCount += other.constraintCount;
+            m_ActiveConstraintCount += other.activeConstraintCount;
+            m_InitialActiveConstraintCount += other.initialActiveConstraintCount;
+        }
+
+
+        protected abstract void SwapConstraints(int sourceIndex, int destIndex);
+        public abstract void GetParticlesInvolved(int index, List<int> particles);
+
+        public virtual void AddToSolver(ObiSolver solver) { }
+        public virtual void RemoveFromSolver(ObiSolver solver) {
+            particleIndices.Dispose();
+            lambdas.Dispose();
+        }
+
+        protected virtual void CopyConstraint(ObiConstraintsBatch batch, int constraintIndex) { }
+
+        private void InnerSwapConstraints(int sourceIndex, int destIndex)
+        {
+            m_IDToIndex[m_IDs[sourceIndex]] = destIndex;
+            m_IDToIndex[m_IDs[destIndex]] = sourceIndex;
+            m_IDs.Swap(sourceIndex, destIndex);
+            SwapConstraints(sourceIndex, destIndex);
+        }
+
+        /**
+         * Registers a new constraint. Call this before adding a new contraint to the batch, so that the constraint is given an ID 
+         * and the amount of constraints increased.
+         */
+        protected void RegisterConstraint()
+        {
+            m_IDs.Add(m_ConstraintCount);
+            m_IDToIndex.Add(m_ConstraintCount);
+            m_ConstraintCount++;
+        }
+
+        public virtual void Clear()
+        {
+            m_ConstraintCount = 0;
+            m_ActiveConstraintCount = 0;
+            m_IDs.Clear();
+            m_IDToIndex.Clear();
+            particleIndices.Clear();
+            lambdas.Clear();
+        }
+
+        /**
+         * Given the id of a constraint, return its index in the constraint data arrays. Will return -1 if the constraint does not exist.
+         */
+        public int GetConstraintIndex(int constraintId)
+        {
+            if (constraintId < 0 || constraintId >= constraintCount)
+                return -1;
+            return m_IDToIndex[constraintId];
+        }
+
+        public bool IsConstraintActive(int index)
+        {
+            return index < m_ActiveConstraintCount;
+        }
+
+        public bool ActivateConstraint(int constraintIndex)
+        {
+            if (constraintIndex < m_ActiveConstraintCount)
+                return false;
+
+            InnerSwapConstraints(constraintIndex, m_ActiveConstraintCount);
+            m_ActiveConstraintCount++;
+
+            return true;
+        }
+
+        public bool DeactivateConstraint(int constraintIndex)
+        {
+            if (constraintIndex >= m_ActiveConstraintCount)
+                return false;
+
+            m_ActiveConstraintCount--;
+            InnerSwapConstraints(constraintIndex, m_ActiveConstraintCount);
+
+            return true;
+        }
+
+        public void DeactivateAllConstraints()
+        {
+            m_ActiveConstraintCount = 0;
+        }
+
+        public void ActivateAllConstraints()
+        {
+            m_ActiveConstraintCount = m_ConstraintCount;
+        }
+
+        // Swaps the constraint with the last one and reduces the amount of constraints by one.
+        public void RemoveConstraint(int constraintIndex)
+        {
+            SwapConstraints(constraintIndex, constraintCount - 1);
+            m_IDs.RemoveAt(constraintCount - 1);
+            m_IDToIndex.RemoveAt(constraintCount - 1);
+
+            m_ConstraintCount--;
+            m_ActiveConstraintCount = Mathf.Min(m_ActiveConstraintCount, m_ConstraintCount); 
+        }
+
+        public void ParticlesSwapped(int index, int newIndex)
+        {
+            for (int i = 0; i < particleIndices.count; ++i)
+            {
+                if (particleIndices[i] == newIndex)
+                    particleIndices[i] = index;
+                else if (particleIndices[i] == index)
+                    particleIndices[i] = newIndex;
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta
new file mode 100644
index 00000000..46083e7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
new file mode 100644
index 00000000..92673df9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
@@ -0,0 +1,148 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiDistanceConstraintsBatch : ObiConstraintsBatch, IStructuralConstraintBatch
+    {
+        [NonSerialized] protected IDistanceConstraintsBatchImpl m_BatchImpl; 
+
+        /// <summary>
+        /// Rest distance for each individual constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restLengths = new ObiNativeFloatList();
+
+        /// <summary>
+        /// 2 values for each constraint: compliance and slack.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List stiffnesses = new ObiNativeVector2List();            
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Distance; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiDistanceConstraintsBatch(ObiDistanceConstraintsData constraints = null) : base()
+        { 
+        }
+
+        public void AddConstraint(Vector2Int indices, float restLength)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            restLengths.Add(restLength);
+            stiffnesses.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            restLengths.Clear();
+            stiffnesses.Clear();
+        }
+
+        public float GetRestLength(int index)
+        {
+            return restLengths[index];
+        }
+
+        public void SetRestLength(int index, float restLength)
+        {
+            restLengths[index] = restLength;
+        }
+
+        public ParticlePair GetParticleIndices(int index)
+        {
+            return new ParticlePair(particleIndices[index * 2],particleIndices[index * 2 + 1]);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void CopyConstraint(ObiConstraintsBatch batch, int constraintIndex)
+        {
+            if (batch is ObiDistanceConstraintsBatch)
+            {
+                var db = batch as ObiDistanceConstraintsBatch;
+                RegisterConstraint();
+                particleIndices.Add(batch.particleIndices[constraintIndex * 2]);
+                particleIndices.Add(batch.particleIndices[constraintIndex * 2 + 1]);
+                restLengths.Add(db.restLengths[constraintIndex]);
+                stiffnesses.Add(db.stiffnesses[constraintIndex]);
+                ActivateConstraint(constraintCount - 1);
+            }
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            restLengths.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiDistanceConstraintsBatch;
+            var user = actor as IDistanceConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.distanceConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    float restLength = batch.restLengths[i] * user.stretchingScale;
+                    restLengths[m_ActiveConstraintCount + i] = restLength; // TODO: use nativelist methods?
+                    stiffnesses[m_ActiveConstraintCount + i] = new Vector2(user.stretchCompliance, user.maxCompression * restLength);
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IDistanceConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetDistanceConstraints(particleIndices, restLengths, stiffnesses, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            restLengths.Dispose();
+            stiffnesses.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta
new file mode 100644
index 00000000..69910bec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
new file mode 100644
index 00000000..a25aaa35
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
@@ -0,0 +1,155 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IPinConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// for each constraint, handle of the pinned collider.
+        /// </summary>
+        [HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
+
+        /// <summary>
+        /// index of the pinned collider in the collider world.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList colliderIndices = new ObiNativeIntList();
+
+        /// <summary>
+        /// Pin position expressed in the attachment's local space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
+
+        /// <summary>
+        /// Rest Darboux vector for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
+
+        /// <summary>
+        /// Compliances of pin constraits. 2 float per constraint (positional and rotational compliance).
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
+
+        /// <summary>
+        /// One float per constraint: break threshold.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList breakThresholds = new ObiNativeFloatList();
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Pin; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiPinConstraintsBatch(ObiPinConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, float breakThreshold)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(solverIndex);
+            pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
+            colliderIndices.Add(body != null ? body.Handle.index : -1);
+            offsets.Add(offset);
+            restDarbouxVectors.Add(restDarboux);
+            stiffnesses.Add(linearCompliance);
+            stiffnesses.Add(rotationalCompliance);
+            breakThresholds.Add(breakThreshold);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            pinBodies.Clear();
+            colliderIndices.Clear();
+            offsets.Clear();
+            restDarbouxVectors.Clear();
+            stiffnesses.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex, destIndex);
+            pinBodies.Swap(sourceIndex, destIndex);
+            colliderIndices.Swap(sourceIndex, destIndex);
+            offsets.Swap(sourceIndex, destIndex);
+            restDarbouxVectors.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex * 2, destIndex * 2);
+            stiffnesses.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiPinConstraintsBatch;
+
+            if (batch != null)
+            {
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
+
+                offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
+                breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i];
+                    colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            if (solver != null && solver.implementation != null)
+            {
+                m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IPinConstraintsBatchImpl;
+
+                if (m_BatchImpl != null)
+                    m_BatchImpl.SetPinConstraints(particleIndices, colliderIndices, offsets, restDarbouxVectors, stiffnesses, lambdas, m_ActiveConstraintCount);
+            }
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            restDarbouxVectors.Dispose();
+            colliderIndices.Dispose();
+            offsets.Dispose();
+            stiffnesses.Dispose();
+            breakThresholds.Dispose();
+
+            if (solver != null && solver.implementation != null)
+                solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..31c2122e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c2de2f97e7edf4bedb38202be59122ae
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 85e4f507907784b9eb4637afe5c2e3a4, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
new file mode 100644
index 00000000..4c87bc32
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,235 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiShapeMatchingConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IShapeMatchingConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// index of the first particle in each constraint.
+        /// </summary>
+        public ObiNativeIntList firstIndex = new ObiNativeIntList();
+
+        /// <summary>
+        /// amount of particles in each constraint.
+        /// </summary>
+        public ObiNativeIntList numIndices = new ObiNativeIntList();
+
+        /// <summary>
+        /// whether the constraint is implicit (0) or explicit (>0).
+        /// </summary>
+        public ObiNativeIntList explicitGroup = new ObiNativeIntList();
+
+        /// <summary>
+        /// 5 floats per constraint: stiffness, plastic yield, creep, recovery and max deformation.
+        /// </summary>
+        public ObiNativeFloatList materialParameters = new ObiNativeFloatList();
+
+
+        /// <summary>
+        /// rest center of mass for each constraint.
+        /// </summary>
+        public ObiNativeVector4List restComs = new ObiNativeVector4List();
+
+        /// <summary>
+        /// current center of mass for each constraint.
+        /// </summary>
+        public ObiNativeVector4List coms = new ObiNativeVector4List();
+
+        /// <summary>
+        /// current best-match orientation for each constraint.
+        /// </summary>
+        public ObiNativeQuaternionList orientations = new ObiNativeQuaternionList();
+
+        /// <summary>
+        /// current best-match linear transform for each constraint.
+        /// </summary>
+        public ObiNativeMatrix4x4List linearTransforms = new ObiNativeMatrix4x4List();
+
+        /// <summary>
+        /// current plastic deformation for each constraint.
+        /// </summary>
+        public ObiNativeMatrix4x4List plasticDeformations = new ObiNativeMatrix4x4List();
+
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.ShapeMatching; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiShapeMatchingConstraintsBatch(ObiShapeMatchingConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] indices, bool isExplicit)
+        {
+            RegisterConstraint();
+
+            firstIndex.Add((int)particleIndices.count);
+            numIndices.Add((int)indices.Length);
+            explicitGroup.Add(isExplicit ? 1 : 0);
+            particleIndices.AddRange(indices);
+            materialParameters.AddRange(new float[] { 1, 1, 1, 1, 1 });
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            firstIndex.Clear();
+            numIndices.Clear();
+            explicitGroup.Clear();
+            particleIndices.Clear();
+            materialParameters.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            int first = firstIndex[index];
+            int num = numIndices[index];
+            for (int i = first; i < first + num; ++i)
+                particles.Add(particleIndices[i]);
+        }
+
+        public void RemoveParticleFromConstraint(int constraintIndex, int particleIndex)
+        {
+            int first = firstIndex[constraintIndex];
+            int num = numIndices[constraintIndex];
+
+            int found = 0;
+            for (int i = first + num - 1; i >= first; --i)
+            {
+                if (particleIndices[i] == particleIndex)
+                {
+                    found++;
+                    particleIndices.RemoveAt(i);
+                }
+            }
+
+            // update num indices of the current constraint:
+            numIndices[constraintIndex] -= found;
+
+            // update firstIndex of following constraints:
+            for (int i = constraintIndex + 1; i < constraintCount; ++i)
+                firstIndex[i] -= found;
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstIndex.Swap(sourceIndex, destIndex);
+            numIndices.Swap(sourceIndex, destIndex);
+            explicitGroup.Swap(sourceIndex, destIndex);
+
+            for (int i = 0; i < 5; ++i)
+                materialParameters.Swap(sourceIndex * 5 + i, destIndex * 5 + i);
+
+            restComs.Swap(sourceIndex, destIndex);
+            coms.Swap(sourceIndex, destIndex);
+            orientations.Swap(sourceIndex, destIndex);
+            linearTransforms.Swap(sourceIndex, destIndex);
+            plasticDeformations.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiShapeMatchingConstraintsBatch;
+            var user = actor as IShapeMatchingConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.shapeMatchingConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                // shape matching constraint particle indices are not reordered when deactivating constraints,
+                // so instead of using batch.activeConstraintCount, batch.constraintCount. We need all of them.
+                int numActiveIndices = 0;
+                for (int i = 0; i < batch.constraintCount; ++i)
+                    numActiveIndices += batch.numIndices[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
+                firstIndex.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                numIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                explicitGroup.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                materialParameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
+
+                restComs.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                coms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                orientations.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                linearTransforms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticDeformations.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount, Matrix4x4.identity);
+
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numIndices.CopyFrom(batch.numIndices, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                explicitGroup.CopyFrom(batch.explicitGroup, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                orientations.CopyReplicate(actor.actorLocalToSolverMatrix.rotation, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveIndices; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    firstIndex[m_ActiveConstraintCount + i] = batch.firstIndex[i] + initialIndexCount;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5] = batch.materialParameters[i * 5] * user.deformationResistance;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 1] = batch.materialParameters[i * 5 + 1] * user.plasticYield;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 2] = batch.materialParameters[i * 5 + 2] * user.plasticCreep;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 3] = batch.materialParameters[i * 5 + 3] * user.plasticRecovery;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 4] = batch.materialParameters[i * 5 + 4] * user.maxDeformation;
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IShapeMatchingConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+            {
+                m_BatchImpl.SetShapeMatchingConstraints(particleIndices, firstIndex, numIndices, explicitGroup,
+                                                        materialParameters, restComs, coms, orientations, linearTransforms, plasticDeformations,
+                                                        lambdas, m_ActiveConstraintCount);
+
+                m_BatchImpl.CalculateRestShapeMatching();
+            }
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            firstIndex.Dispose();
+            numIndices.Dispose();
+            explicitGroup.Dispose();
+            materialParameters.Dispose();
+
+            restComs.Dispose();
+            coms.Dispose();
+            orientations.Dispose();
+            linearTransforms.Dispose();
+            plasticDeformations.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        public void RecalculateRestShapeMatching()
+        {
+            if (m_BatchImpl != null)
+                m_BatchImpl.CalculateRestShapeMatching();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 00000000..4c7f8f60
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7b626d541fade4c159a4373343c8f0bd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: a2686776a1c104bfd8868f056a5cd335, type: 3}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
new file mode 100644
index 00000000..f7b738cf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
@@ -0,0 +1,146 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiSkinConstraintsBatch : ObiConstraintsBatch
+    {
+        protected ISkinConstraintsBatchImpl m_BatchImpl;   
+
+
+        /// <summary>
+        /// skin constraint anchor points, in solver space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List skinPoints = new ObiNativeVector4List();             
+
+        /// <summary>
+        /// normal vector for each skin constraint, in solver space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List skinNormals = new ObiNativeVector4List();            
+
+        /// <summary>
+        ///  3 floats per constraint: skin radius, backstop sphere radius, and backstop sphere distance.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList skinRadiiBackstop = new ObiNativeFloatList();          
+
+        /// <summary>
+        /// one compliance value per skin constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList skinCompliance = new ObiNativeFloatList();              
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Skin; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiSkinConstraintsBatch(ObiSkinConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int index, Vector4 point, Vector4 normal, float radius, float collisionRadius, float backstop, float stiffness)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(index);
+            skinPoints.Add(point);
+            skinNormals.Add(normal);
+            skinRadiiBackstop.Add(radius);
+            skinRadiiBackstop.Add(collisionRadius);
+            skinRadiiBackstop.Add(backstop);
+            skinCompliance.Add(stiffness);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            skinPoints.Clear();
+            skinNormals.Clear();
+            skinRadiiBackstop.Clear();
+            skinCompliance.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex, destIndex);
+            skinPoints.Swap(sourceIndex, destIndex);
+            skinNormals.Swap(sourceIndex, destIndex);
+            skinRadiiBackstop.Swap(sourceIndex * 3, destIndex * 3);
+            skinRadiiBackstop.Swap(sourceIndex * 3+1, destIndex * 3+1);
+            skinRadiiBackstop.Swap(sourceIndex * 3+2, destIndex * 3+2);
+            skinCompliance.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiSkinConstraintsBatch;
+            var user = actor as ISkinConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.skinConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinPoints.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinNormals.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinRadiiBackstop.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+                skinCompliance.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                skinPoints.CopyFrom(batch.skinPoints, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                skinNormals.CopyFrom(batch.skinNormals, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    var radiiBackstop = user.GetSkinRadiiBackstop(batch, i);
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3] = radiiBackstop.x;
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3 + 1] = radiiBackstop.y;
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3 + 2] = radiiBackstop.z;
+                    skinCompliance[m_ActiveConstraintCount + i] = user.GetSkinCompliance(batch, i);
+                }
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as ISkinConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetSkinConstraints(particleIndices, skinPoints, skinNormals, skinRadiiBackstop, skinCompliance, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            skinPoints.Dispose();
+            skinNormals.Dispose();
+            skinRadiiBackstop.Dispose();
+            skinCompliance.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta
new file mode 100644
index 00000000..bd0be667
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: e58e2a3c37c7547a8a791a56e0a1ace6, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
new file mode 100644
index 00000000..cce356d4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
@@ -0,0 +1,156 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiStretchShearConstraintsBatch : ObiConstraintsBatch, IStructuralConstraintBatch
+    {
+        protected IStretchShearConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// index of particle orientation for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList orientationIndices = new ObiNativeIntList();                      
+
+        /// <summary>
+        /// rest distance for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restLengths = new ObiNativeFloatList();                        
+
+        /// <summary>
+        /// rest orientation for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeQuaternionList restOrientations = new ObiNativeQuaternionList();         
+
+        /// <summary>
+        /// 3 compliance values per constraint, one for each local axis (x,y,z).
+        /// </summary>
+        [HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();                     
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.StretchShear; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiStretchShearConstraintsBatch(ObiStretchShearConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, int orientationIndex, float restLength, Quaternion restOrientation)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            orientationIndices.Add(orientationIndex);
+            restLengths.Add(restLength);
+            restOrientations.Add(restOrientation);
+            stiffnesses.Add(Vector3.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            orientationIndices.Clear();
+            restLengths.Clear();
+            restOrientations.Clear();
+            stiffnesses.Clear();
+        }
+
+        public float GetRestLength(int index)
+        {
+            return restLengths[index];
+        }
+
+        public void SetRestLength(int index, float restLength)
+        {
+            restLengths[index] = restLength;
+        }
+
+        public ParticlePair GetParticleIndices(int index)
+        {
+            return new ParticlePair(particleIndices[index * 2], particleIndices[index * 2 + 1]);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2 , destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            orientationIndices.Swap(sourceIndex, destIndex);
+            restLengths.Swap(sourceIndex, destIndex);
+            restOrientations.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiStretchShearConstraintsBatch;
+            var user = actor as IStretchShearConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.stretchShearConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    stiffnesses[m_ActiveConstraintCount + i] = user.GetStretchShearCompliance(batch, i);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IStretchShearConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetStretchShearConstraints(particleIndices, orientationIndices, restLengths, restOrientations, stiffnesses, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            orientationIndices.Dispose();
+            restLengths.Dispose();
+            restOrientations.Dispose();
+            stiffnesses.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta
new file mode 100644
index 00000000..ea17106b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
new file mode 100644
index 00000000..313e6eca
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
@@ -0,0 +1,156 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiTetherConstraintsBatch : ObiConstraintsBatch
+    {
+        protected ITetherConstraintsBatchImpl m_BatchImpl;   
+
+        /// <summary>
+        /// 2 floats per constraint: maximum length and tether scale.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List maxLengthsScales = new ObiNativeVector2List();    
+
+        /// <summary>
+        /// compliance value for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();    
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Tether; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiTetherConstraintsBatch(ObiTetherConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, float maxLength, float scale)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            maxLengthsScales.Add(new Vector2(maxLength, scale));
+            stiffnesses.Add(0);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            maxLengthsScales.Clear();
+            stiffnesses.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            maxLengthsScales.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiTetherConstraintsBatch;
+            var user = actor as ITetherConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.tetherConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                maxLengthsScales.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                stiffnesses.CopyReplicate(user.tetherCompliance, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    maxLengthsScales[m_ActiveConstraintCount + i] = new Vector2(batch.maxLengthsScales[i].x, user.tetherScale);
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as ITetherConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetTetherConstraints(particleIndices, maxLengthsScales, stiffnesses, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            maxLengthsScales.Dispose();
+            stiffnesses.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        /*public override void AddToSolver(ObiSolver solver)
+        {
+            // create and add the implementation:
+            if (m_Constraints != null && m_Constraints.implementation != null)
+            {
+                m_BatchImpl = m_Constraints.implementation.CreateConstraintsBatch();
+            }
+
+            if (m_BatchImpl != null)
+            {
+                lambdas.Clear();
+                for (int i = 0; i < stiffnesses.count; i++)
+                {
+                    //particleIndices[i * 2] = constraints.GetActor().solverIndices[m_Source.particleIndices[i * 2]];
+                    //particleIndices[i * 2 + 1] = constraints.GetActor().solverIndices[m_Source.particleIndices[i * 2 + 1]];
+                    lambdas.Add(0);
+                }
+
+                m_BatchImpl.SetTetherConstraints(particleIndices, maxLengthsScales, stiffnesses, lambdas, m_ConstraintCount);
+                m_BatchImpl.SetActiveConstraints(m_ActiveConstraintCount);
+            }
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            if (m_Constraints != null && m_Constraints.implementation != null)
+                m_Constraints.implementation.RemoveBatch(m_BatchImpl);
+        }*/
+
+        public void SetParameters(float compliance, float scale)
+        {
+            for (int i = 0; i < stiffnesses.count; i++)
+            {
+                stiffnesses[i] = compliance;
+                maxLengthsScales[i] = new Vector2(maxLengthsScales[i].x, scale);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta
new file mode 100644
index 00000000..ebed69f8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
new file mode 100644
index 00000000..882f1a77
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
@@ -0,0 +1,147 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiVolumeConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IVolumeConstraintsBatchImpl m_BatchImpl; 
+
+        /// <summary>
+        /// index of the first triangle for each constraint (exclusive prefix sum).
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList firstTriangle = new ObiNativeIntList();
+
+        /// <summary>
+        /// number of triangles for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList numTriangles = new ObiNativeIntList();
+
+        /// <summary>
+        /// rest volume for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restVolumes = new ObiNativeFloatList();            
+
+        /// <summary>
+        /// 2 floats per constraint: pressure and stiffness.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List pressureStiffness = new ObiNativeVector2List();  
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Volume; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiVolumeConstraintsBatch(ObiVolumeConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] triangles, float restVolume)
+        {
+            RegisterConstraint();
+
+            firstTriangle.Add((int)particleIndices.count / 3);
+            numTriangles.Add((int)triangles.Length / 3);
+            restVolumes.Add(restVolume);
+            pressureStiffness.Add(new Vector2(1,0));
+            particleIndices.AddRange(triangles);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            firstTriangle.Clear();
+            numTriangles.Clear();
+            restVolumes.Clear();
+            pressureStiffness.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            //TODO.
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstTriangle.Swap(sourceIndex, destIndex);
+            numTriangles.Swap(sourceIndex, destIndex);
+            restVolumes.Swap(sourceIndex, destIndex);
+            pressureStiffness.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiVolumeConstraintsBatch;
+            var user = actor as IVolumeConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.volumeConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                int numActiveTriangles = 0;
+                for (int i = 0; i < batch.constraintCount; ++i)
+                    numActiveTriangles += batch.numTriangles[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveTriangles * 3);
+                firstTriangle.ResizeUninitialized(firstTriangle.count + batch.activeConstraintCount);
+                numTriangles.ResizeUninitialized(numTriangles.count + batch.activeConstraintCount);
+                restVolumes.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                pressureStiffness.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numTriangles.CopyFrom(batch.numTriangles, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                restVolumes.CopyFrom(batch.restVolumes, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                pressureStiffness.CopyReplicate(new Vector2(user.pressure, user.compressionCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveTriangles * 3; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount + 1; ++i)
+                    firstTriangle[m_ActiveConstraintCount + i] = initialIndexCount/3 + batch.firstTriangle[i];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IVolumeConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetVolumeConstraints(particleIndices, firstTriangle, numTriangles, restVolumes, pressureStiffness, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            firstTriangle.Dispose();
+            numTriangles.Dispose();
+            restVolumes.Dispose();
+            pressureStiffness.Dispose();
+
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        public void SetParameters(float compliance, float pressure)
+        {
+            Vector2 p = new Vector2(pressure, compliance);
+            for (int i = 0; i < pressureStiffness.count; i++)
+                pressureStiffness[i] = p;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta
new file mode 100644
index 00000000..cd298e6e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta
new file mode 100644
index 00000000..9c61b7fc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
new file mode 100644
index 00000000..96657c00
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IAerodynamicConstraintsUser
+    {
+        bool aerodynamicsEnabled
+        {
+            get;
+            set;
+        }
+
+        float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex);
+        float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiAerodynamicConstraintsData : ObiConstraints<ObiAerodynamicConstraintsBatch>
+    {
+        public override ObiAerodynamicConstraintsBatch CreateBatch(ObiAerodynamicConstraintsBatch source = null)
+        {
+            return new ObiAerodynamicConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta
new file mode 100644
index 00000000..98ac57b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs
new file mode 100644
index 00000000..dfed54a5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public interface IBendConstraintsUser
+    {
+        bool bendConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float bendCompliance
+        {
+            get;
+            set;
+        }
+
+        float maxBending
+        {
+            get;
+            set;
+        }
+
+        float plasticYield
+        {
+            get;
+            set;
+        }
+
+        float plasticCreep
+        {
+            get;
+            set;
+        }
+
+    }
+
+    [Serializable]
+    public class ObiBendConstraintsData : ObiConstraints<ObiBendConstraintsBatch>
+    {
+        public override ObiBendConstraintsBatch CreateBatch(ObiBendConstraintsBatch source = null)
+        {
+            return new ObiBendConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta
new file mode 100644
index 00000000..02b7052b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs
new file mode 100644
index 00000000..36d4709c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    public interface IBendTwistConstraintsUser
+    {
+        bool bendTwistConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex);
+        Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiBendTwistConstraintsData : ObiConstraints<ObiBendTwistConstraintsBatch>
+    {
+
+        public override ObiBendTwistConstraintsBatch CreateBatch(ObiBendTwistConstraintsBatch source = null)
+        {
+            return new ObiBendTwistConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta
new file mode 100644
index 00000000..eb547ee1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs
new file mode 100644
index 00000000..7a09a7ba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs
@@ -0,0 +1,32 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IChainConstraintsUser
+    {
+
+        bool chainConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float tightness
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiChainConstraintsData : ObiConstraints<ObiChainConstraintsBatch>
+    {
+        public override ObiChainConstraintsBatch CreateBatch(ObiChainConstraintsBatch source = null)
+        {
+            return new ObiChainConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta
new file mode 100644
index 00000000..75868c48
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 33365683dad7c4ad395bce89c5381081
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs
new file mode 100644
index 00000000..11f175d9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public interface IDistanceConstraintsUser
+    {
+        bool distanceConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float stretchingScale
+        {
+            get;
+            set;
+        }
+
+        float stretchCompliance
+        {
+            get;
+            set;
+        }
+
+        float maxCompression
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiDistanceConstraintsData : ObiConstraints<ObiDistanceConstraintsBatch>
+    {
+
+        public override ObiDistanceConstraintsBatch CreateBatch(ObiDistanceConstraintsBatch source = null)
+        {
+            return new ObiDistanceConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta
new file mode 100644
index 00000000..a5723c0c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: 782174d96bf484b98b0dbb103eeb2d1c
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs
new file mode 100644
index 00000000..0b1201a6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinConstraintsData : ObiConstraints<ObiPinConstraintsBatch>
+    {
+
+        public override ObiPinConstraintsBatch CreateBatch(ObiPinConstraintsBatch source = null)
+        {
+            return new ObiPinConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta
new file mode 100644
index 00000000..593e4790
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: b7a2147b44dc24d59a5b57314325ae6c
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+  externalObjects: {}
+  serializedVersion: 2
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs
new file mode 100644
index 00000000..69e4f3ec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IShapeMatchingConstraintsUser
+    {
+        bool shapeMatchingConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float deformationResistance
+        {
+            get;
+            set;
+        }
+
+        float maxDeformation
+        {
+            get;
+            set;
+        }
+
+        float plasticYield
+        {
+            get;
+            set;
+        }
+
+        float plasticCreep
+        {
+            get;
+            set;
+        }
+
+        float plasticRecovery
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiShapeMatchingConstraintsData : ObiConstraints<ObiShapeMatchingConstraintsBatch>
+    {
+        public override ObiShapeMatchingConstraintsBatch CreateBatch(ObiShapeMatchingConstraintsBatch source = null)
+        {
+            return new ObiShapeMatchingConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta
new file mode 100644
index 00000000..9476adec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0d275158a9006411cb1a69f84653efcb
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs
new file mode 100644
index 00000000..4beddc7b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public interface ISkinConstraintsUser
+    {
+        bool skinConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex);
+        float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiSkinConstraintsData : ObiConstraints<ObiSkinConstraintsBatch>
+    {
+        public override ObiSkinConstraintsBatch CreateBatch(ObiSkinConstraintsBatch source = null)
+        {
+            return new ObiSkinConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta
new file mode 100644
index 00000000..45d605e9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0bb567aa0489c4b38bf7e6f9b43d953f
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs
new file mode 100644
index 00000000..54db995b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IStretchShearConstraintsUser
+    {
+        bool stretchShearConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiStretchShearConstraintsData : ObiConstraints<ObiStretchShearConstraintsBatch>
+    {
+
+        public override ObiStretchShearConstraintsBatch CreateBatch(ObiStretchShearConstraintsBatch source = null)
+        {
+            return new ObiStretchShearConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta
new file mode 100644
index 00000000..825e8e61
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs
new file mode 100644
index 00000000..a0269d98
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface ITetherConstraintsUser
+    {
+        bool tetherConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float tetherCompliance
+        {
+            get;
+            set;
+        }
+
+        float tetherScale
+        {
+            get;
+            set;
+        }
+    }
+
+
+    [Serializable]
+    public class ObiTetherConstraintsData : ObiConstraints<ObiTetherConstraintsBatch>
+    {
+        public override ObiTetherConstraintsBatch CreateBatch(ObiTetherConstraintsBatch source = null)
+        {
+            return new ObiTetherConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta
new file mode 100644
index 00000000..7e7cbcbe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: 10997226d34c34554a17c69f27627e5d
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs
new file mode 100644
index 00000000..3b76209b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IVolumeConstraintsUser
+    {
+        bool volumeConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float compressionCompliance
+        {
+            get;
+            set;
+        }
+
+        float pressure
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiVolumeConstraintsData : ObiConstraints<ObiVolumeConstraintsBatch>
+    {
+        public override ObiVolumeConstraintsBatch CreateBatch(ObiVolumeConstraintsBatch source = null)
+        {
+            return new ObiVolumeConstraintsBatch();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta
new file mode 100644
index 00000000..559f0d83
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
new file mode 100644
index 00000000..b8810adc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
@@ -0,0 +1,178 @@
+using UnityEngine;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    public interface IObiConstraints
+    {
+        Oni.ConstraintType? GetConstraintType();
+
+        IObiConstraintsBatch GetBatch(int i);
+        int batchCount { get; }
+        void Clear();
+
+        bool AddToSolver(ObiSolver solver);
+        bool RemoveFromSolver();
+
+        int GetConstraintCount();
+        int GetActiveConstraintCount();
+        void ActivateAllConstraints();
+        void DeactivateAllConstraints();
+
+        void Merge(ObiActor actor, IObiConstraints other);
+    }
+
+    [Serializable]
+    public abstract class ObiConstraints<T> : IObiConstraints where T : class, IObiConstraintsBatch
+    {
+        [NonSerialized] protected ObiSolver m_Solver;
+        [HideInInspector] public List<T> batches = new List<T>();
+
+        public int batchCount { get => batches == null ? 0 : batches.Count; }
+
+        // merges constraints from a given actor with this one.
+        public void Merge(ObiActor actor, IObiConstraints other)
+        {
+            var others = other as ObiConstraints<T>;
+
+            if (others == null || !other.GetConstraintType().HasValue)
+                return;
+
+            int constraintType = (int)other.GetConstraintType().Value;
+
+            // clear batch offsets for this constraint type:
+            actor.solverBatchOffsets[constraintType].Clear();
+
+            // create new empty batches if needed:
+            int newBatches = Mathf.Max(0, others.batchCount - batchCount);
+            for (int i = 0;  i < newBatches; ++i)
+                AddBatch(CreateBatch());
+
+            for (int i = 0; i < other.batchCount; ++i)
+            {
+                // store this batch's offset:
+                actor.solverBatchOffsets[constraintType].Add(batches[i].activeConstraintCount);
+
+                // merge both batches:
+                batches[i].Merge(actor, others.batches[i]);
+            }
+
+        }
+
+        public IObiConstraintsBatch GetBatch(int i)
+        {
+            if (batches != null && i >= 0 && i < batches.Count)
+                return (IObiConstraintsBatch) batches[i];
+            return null;
+        }
+
+        public int GetConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.constraintCount;
+
+            return count;
+        }
+
+        public int GetActiveConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.activeConstraintCount;
+
+            return count;
+        }
+
+        public void DeactivateAllConstraints()
+        {
+            if (batches != null)
+                foreach (T batch in batches)
+                    if (batch != null)
+                        batch.DeactivateAllConstraints();
+        }
+
+        public void ActivateAllConstraints()
+        {
+            if (batches != null)
+                foreach (T batch in batches)
+                    if (batch != null)
+                        batch.ActivateAllConstraints();
+        }
+
+        public T GetFirstBatch()
+        {
+            return (batches != null && batches.Count > 0) ? batches[0] : null;
+        }
+
+        public Oni.ConstraintType? GetConstraintType()
+        {
+            if (batches != null && batches.Count > 0)
+                return batches[0].constraintType;
+            else return null;
+        }
+
+        public void Clear()
+        {
+            RemoveFromSolver();
+
+            if (batches != null)
+                batches.Clear();
+        }
+
+        public virtual T CreateBatch(T source = null)
+        {
+            return null;
+        }
+
+        public void AddBatch(T batch)
+        {
+            if (batch != null)
+                batches.Add(batch);
+        }
+
+        public bool RemoveBatch(T batch)
+        {
+            if (batches == null || batch == null)
+                return false;
+            return batches.Remove(batch);
+        }
+
+        public bool AddToSolver(ObiSolver solver)
+        {
+
+            if (this.m_Solver != null || batches == null)
+                return false;
+
+            this.m_Solver = solver;
+
+            foreach (T batch in batches)
+                batch.AddToSolver(m_Solver);
+
+            return true;
+
+        }
+
+        public bool RemoveFromSolver()
+        {
+
+            if (this.m_Solver == null || batches == null)
+                return false;
+
+            foreach (T batch in batches)
+                batch.RemoveFromSolver(m_Solver);
+
+            this.m_Solver = null;
+
+            return true;
+
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta
new file mode 100644
index 00000000..53ddd38c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ef958cf590b69495999edd2bbdd290f7
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+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs
new file mode 100644
index 00000000..927e99ac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct StructuralConstraint
+    {
+        public IStructuralConstraintBatch batchIndex;
+        public int constraintIndex;
+        public float force;
+
+        public float restLength
+        {
+            get 
+            {
+                if (batchIndex == null)
+                    return -1;
+                return batchIndex.GetRestLength(constraintIndex); 
+            }
+
+            set
+            {
+                if (batchIndex != null)
+                {
+                    batchIndex.SetRestLength(constraintIndex, value);
+                }
+            }
+        }
+
+        public StructuralConstraint(IStructuralConstraintBatch batchIndex, int constraintIndex, float force)
+        {
+            this.batchIndex = batchIndex;
+            this.constraintIndex = constraintIndex;
+            this.force = force;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta
new file mode 100644
index 00000000..0d46eb5e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
new file mode 100644
index 00000000..3101bf7b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
@@ -0,0 +1 @@
+using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

namespace Obi
{
    /**
     * General greedy graph coloring algorithm for constraints. Input:
     * - List of particle indices used by all constraints.
     * - List of per-constraint offsets of the first constrained particle in the previous array, with the total amount of particle indices in the last position.
     * 
     * The output is a color for each constraint. Constraints of the same color are guaranteed to not share any partices.
     */
    public class GraphColoring
    {
        private List<int> m_ParticleIndices;
        private List<int> m_ConstraintIndices;
        private List<List<int>> m_ConstraintsPerParticle;

        public IReadOnlyList<int> particleIndices => m_ParticleIndices.AsReadOnly();
        public IReadOnlyList<int> constraintIndices => m_ConstraintIndices.AsReadOnly();

        public GraphColoring(int particleCount = 0)
        {
            m_ParticleIndices = new List<int>();
            m_ConstraintIndices = new List<int>();
            m_ConstraintsPerParticle = new List<List<int>>(particleCount);
            for (int i = 0; i < particleCount; ++i)
                m_ConstraintsPerParticle.Add(new List<int>());
        }

        public void Clear()
        {
            m_ParticleIndices.Clear();
            m_ConstraintIndices.Clear();
            for (int i = 0; i < m_ConstraintsPerParticle.Count; ++i)
                m_ConstraintsPerParticle[i].Clear();
        }

        public void AddConstraint(int[] particles)
        {
            for (int i = 0; i < particles.Length; ++i)
            {
                while (particles[i] >= m_ConstraintsPerParticle.Count)
                    m_ConstraintsPerParticle.Add(new List<int>());
                m_ConstraintsPerParticle[particles[i]].Add(m_ConstraintIndices.Count);
            }

            m_ConstraintIndices.Add(m_ParticleIndices.Count);
            m_ParticleIndices.AddRange(particles);
        }

        public IEnumerator Colorize(string progressDescription, List<int> colors)
        {
            m_ConstraintIndices.Add(m_ParticleIndices.Count);

            int constraintCount = Mathf.Max(0, m_ConstraintIndices.Count - 1);
            colors.Clear();

            if (constraintCount == 0)
                yield break;

            colors.Capacity = constraintCount;
            bool[] availability = new bool[constraintCount];

            for (int i = 0; i < constraintCount; ++i)
            {
                colors.Add(-1);
                availability[i] = true;
            }

            // For each constraint:
            for (int i = 0; i < constraintCount; ++i)
            {
                // iterate over its particles:
                for (int j = m_ConstraintIndices[i]; j < m_ConstraintIndices[i + 1]; ++j)
                {
                    // for each particle, get constraints affecting it:
                    foreach (int k in m_ConstraintsPerParticle[m_ParticleIndices[j]])
                    {
                        // skip ourselves:
                        if (i == k) continue;

                        // both constraints share a particle so mark the neighbour color as unavailable:
                        if (colors[k] >= 0)
                            availability[colors[k]] = false;
                    }
                }

                // Assign the first available color:
                for (colors[i] = 0; colors[i] < constraintCount; ++colors[i])
                    if (availability[colors[i]])
                        break;

                // Reset availability flags:
                for (int j = 0; j < constraintCount; ++j)
                    availability[j] = true;

                if (i % 250 == 0)
                    yield return new CoroutineJob.ProgressInfo(progressDescription, i / (float)constraintCount);
            }
        }


    }
}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta
new file mode 100644
index 00000000..ff881130
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9fd5c54becb84484b9b524f897fa9f23
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
new file mode 100644
index 00000000..c87f69db
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
@@ -0,0 +1,702 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Serialization;
+using System.IO;
+
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi
+{
+
+    public abstract class ObiActorBlueprint : ScriptableObject, IObiParticleCollection
+    {
+        public delegate void BlueprintCallback(ObiActorBlueprint blueprint);
+        public event BlueprintCallback OnBlueprintGenerate;
+
+        [HideInInspector] [SerializeField] protected uint m_Checksum;  
+        [HideInInspector] [SerializeField] protected bool m_Empty = true;
+        [HideInInspector] [SerializeField] protected bool m_Edited = false;             /**< Whether there's been any modifications to blueprint data since generating it. This is used to tell whether it can be re-generated without data loss.*/
+        [HideInInspector] [SerializeField] protected int m_ActiveParticleCount = 0;
+        [HideInInspector] [SerializeField] protected int m_InitialActiveParticleCount = 0;
+        [HideInInspector] [SerializeField] protected Bounds _bounds = new Bounds();
+
+        /**Particle components*/
+        [HideInInspector] public Vector3[] positions = null;           /**< Particle positions.*/
+        [HideInInspector] public Vector4[] restPositions = null;       /**< Particle rest positions, used to filter collisions.*/
+
+        [HideInInspector] public Quaternion[] orientations = null;     /**< Particle orientations.*/
+        [HideInInspector] public Quaternion[] restOrientations = null; /**< Particle rest orientations.*/
+
+        [HideInInspector] public Vector3[] velocities = null;          /**< Particle velocities.*/
+        [HideInInspector] public Vector3[] angularVelocities = null;   /**< Particle angular velocities.*/
+
+        [HideInInspector] public float[] invMasses = null;             /**< Particle inverse masses*/
+        [HideInInspector] public float[] invRotationalMasses = null;
+
+        [FormerlySerializedAs("phases")]
+        [HideInInspector] public int[] filters = null;                 /**< Particle filters*/
+        [HideInInspector] public Vector3[] principalRadii = null;      /**< Particle ellipsoid principal radii. These are the ellipsoid radius in each axis.*/
+        [HideInInspector] public Color[] colors = null;                /**< Particle colors (not used by all actors, can be null)*/
+
+        /** Simplices **/
+        [HideInInspector] public int[] points = null;
+        [HideInInspector] public int[] edges = null;
+        [HideInInspector] public int[] triangles = null;
+
+        /** Constraint components. Each constraint type contains a list of constraint batches.*/
+        [HideInInspector] public ObiDistanceConstraintsData distanceConstraintsData = null;
+        [HideInInspector] public ObiBendConstraintsData bendConstraintsData = null;
+        [HideInInspector] public ObiSkinConstraintsData skinConstraintsData = null;
+        [HideInInspector] public ObiTetherConstraintsData tetherConstraintsData = null;
+        [HideInInspector] public ObiStretchShearConstraintsData stretchShearConstraintsData = null;
+        [HideInInspector] public ObiBendTwistConstraintsData bendTwistConstraintsData = null;
+        [HideInInspector] public ObiShapeMatchingConstraintsData shapeMatchingConstraintsData = null;
+        [HideInInspector] public ObiAerodynamicConstraintsData aerodynamicConstraintsData = null;
+        [HideInInspector] public ObiChainConstraintsData chainConstraintsData = null;
+        [HideInInspector] public ObiVolumeConstraintsData volumeConstraintsData = null;
+
+        /** Particle groups.*/
+        [HideInInspector] public List<ObiParticleGroup> groups = new List<ObiParticleGroup>();
+
+        /**
+         * Checksum value generated from particle positions and orientations.
+         */
+        public uint checksum
+        {
+            get { return m_Checksum; }
+        }
+
+        /**
+         * Returns the amount of particles used by this blueprint.
+         */
+        public int particleCount
+        {
+            get { return positions != null ? positions.Length : 0; }
+        }
+
+        public int activeParticleCount
+        {
+            get { return m_ActiveParticleCount; }
+        }
+
+        public Oni.SimplexType simplexTypes
+        {
+            get {
+                return Oni.SimplexType.Point | // points (single particles) are always available.
+                       (edges != null ? Oni.SimplexType.Edge : 0) |
+                       (triangles != null ? Oni.SimplexType.Triangle : 0);
+            }
+        }
+
+        /**
+         * Returns whether this group uses oriented particles.
+         */
+        public bool usesOrientedParticles
+        {
+            get
+            {
+                return invRotationalMasses != null && invRotationalMasses.Length > 0 &&
+                       orientations != null && orientations.Length > 0;
+            }
+        }
+
+        public virtual bool usesTethers 
+        {
+            get { return false; }
+        }
+
+        public bool IsParticleActive(int index)
+        {
+            return index < m_ActiveParticleCount;
+        }
+
+        protected virtual void SwapWithFirstInactiveParticle(int index)
+        {
+            positions.Swap(index, m_ActiveParticleCount);
+            restPositions.Swap(index, m_ActiveParticleCount);
+            orientations.Swap(index, m_ActiveParticleCount);
+            restOrientations.Swap(index, m_ActiveParticleCount);
+            velocities.Swap(index, m_ActiveParticleCount);
+            angularVelocities.Swap(index, m_ActiveParticleCount);
+            invMasses.Swap(index, m_ActiveParticleCount);
+            invRotationalMasses.Swap(index, m_ActiveParticleCount);
+            filters.Swap(index, m_ActiveParticleCount);
+            principalRadii.Swap(index, m_ActiveParticleCount);
+            colors.Swap(index, m_ActiveParticleCount);
+
+            m_Edited = true;
+        }
+
+        public bool edited
+        {
+            get { return m_Edited; }
+            set { m_Edited = value;}
+        }
+
+        /** 
+         * Activates one particle. This operation preserves the relative order of all particles.
+         */
+        public bool ActivateParticle(int index)
+        {
+            if (IsParticleActive(index))
+                return false;
+
+            SwapWithFirstInactiveParticle(index);
+            m_ActiveParticleCount++;
+
+            return true;
+        }
+
+        /** 
+         * Deactivates one particle. This operation does not preserve the relative order of other particles, because the last active particle will
+         * swap positions with the particle being deactivated.
+         */
+        public bool DeactivateParticle(int index)
+        {
+            if (!IsParticleActive(index))
+                return false;
+
+            m_ActiveParticleCount--;
+            SwapWithFirstInactiveParticle(index);
+
+            return true;
+        }
+
+        public bool empty
+        {
+            get { return m_Empty; }
+        }
+
+        public void RecalculateBounds()
+        {
+            if (positions.Length > 0)
+            {
+                _bounds = new Bounds(positions[0],Vector3.zero);
+                for (int i = 1; i < positions.Length; ++i)
+                    _bounds.Encapsulate(positions[i]);
+            }
+            else
+                _bounds = new Bounds();
+        }
+
+        public Bounds bounds
+        {
+            get { return _bounds; }
+        }
+
+        protected void GenerateChecksum()
+        {
+            using (MemoryStream ms = new MemoryStream())
+            {
+                if (positions != null)
+                    foreach (var p in positions) ms.Concatenate(p);
+
+                if (orientations != null)
+                    foreach (var o in orientations) ms.Concatenate(o);
+
+                ms.Flush();
+                m_Checksum = ObiUtils.Adler32(ms.ToArray());
+            }
+        }
+
+        public IEnumerable<IObiConstraints> GetConstraints()
+        {
+            if (distanceConstraintsData != null && distanceConstraintsData.batchCount > 0)
+                yield return distanceConstraintsData;
+            if (bendConstraintsData != null && bendConstraintsData.batchCount > 0)
+                yield return bendConstraintsData;
+            if (skinConstraintsData != null && skinConstraintsData.batchCount > 0)
+                yield return skinConstraintsData;
+            if (tetherConstraintsData != null && tetherConstraintsData.batchCount > 0)
+                yield return tetherConstraintsData;
+            if (stretchShearConstraintsData != null && stretchShearConstraintsData.batchCount > 0)
+                yield return stretchShearConstraintsData;
+            if (bendTwistConstraintsData != null && bendTwistConstraintsData.batchCount > 0)
+                yield return bendTwistConstraintsData;
+            if (shapeMatchingConstraintsData != null && shapeMatchingConstraintsData.batchCount > 0)
+                yield return shapeMatchingConstraintsData;
+            if (aerodynamicConstraintsData != null && aerodynamicConstraintsData.batchCount > 0)
+                yield return aerodynamicConstraintsData;
+            if (chainConstraintsData != null && chainConstraintsData.batchCount > 0)
+                yield return chainConstraintsData;
+            if (volumeConstraintsData != null && volumeConstraintsData.batchCount > 0)
+                yield return volumeConstraintsData;
+        }
+
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            switch (type)
+            {
+                case Oni.ConstraintType.Distance: return distanceConstraintsData;
+                case Oni.ConstraintType.Bending: return bendConstraintsData;
+                case Oni.ConstraintType.Skin: return skinConstraintsData;
+                case Oni.ConstraintType.Tether: return tetherConstraintsData;
+                case Oni.ConstraintType.BendTwist: return bendTwistConstraintsData;
+                case Oni.ConstraintType.StretchShear: return stretchShearConstraintsData;
+                case Oni.ConstraintType.ShapeMatching: return shapeMatchingConstraintsData;
+                case Oni.ConstraintType.Aerodynamics: return aerodynamicConstraintsData;
+                case Oni.ConstraintType.Chain: return chainConstraintsData;
+                case Oni.ConstraintType.Volume: return volumeConstraintsData;
+                default: return null;
+            }
+        }
+
+        public int GetParticleRuntimeIndex(int blueprintIndex)
+        {
+            return blueprintIndex;
+        }
+
+        public Vector3 GetParticlePosition(int index)
+        {
+            if (positions != null && index < positions.Length)
+            {
+                return positions[index];
+            }
+            return Vector3.zero;
+        }
+
+        public Quaternion GetParticleOrientation(int index)
+        {
+            if (orientations != null && index < orientations.Length)
+            {
+                return orientations[index];
+            }
+            return Quaternion.identity;
+        }
+
+        public Vector3 GetParticleRestPosition(int index)
+        {
+            if (restPositions != null && index < restPositions.Length)
+            {
+                return restPositions[index];
+            }
+            return Vector3.zero;
+        }
+
+        public Quaternion GetParticleRestOrientation(int index)
+        {
+            if (restOrientations != null && index < restOrientations.Length)
+            {
+                return restOrientations[index];
+            }
+            return Quaternion.identity;
+        }
+
+        public void GetParticleAnisotropy(int index, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3)
+        {
+            if (orientations != null && index < orientations.Length)
+            {
+
+                Quaternion orientation = orientations[index];
+
+                b1 = orientation * Vector3.right;
+                b2 = orientation * Vector3.up;
+                b3 = orientation * Vector3.forward;
+
+                b1[3] = principalRadii[index][0];
+                b2[3] = principalRadii[index][1];
+                b3[3] = principalRadii[index][2];
+
+            }
+            else
+            {
+                b1[3] = b2[3] = b3[3] = principalRadii[index][0];
+            }
+        }
+
+        public float GetParticleMaxRadius(int index)
+        {
+            if (principalRadii != null && index < principalRadii.Length)
+            {
+                return principalRadii[index][0];
+            }
+            return 0;
+        }
+
+        public Color GetParticleColor(int index)
+        {
+            if (colors != null && index < colors.Length)
+            {
+                return colors[index];
+            }
+            else
+                return Color.white;
+        }
+
+        public void GenerateImmediate()
+        {
+            var g = Generate();
+            while (g.MoveNext()){}
+        }
+
+        public IEnumerator Generate()
+        {
+            Clear();
+
+            IEnumerator g = Initialize();
+
+            while (g.MoveNext())
+                yield return g.Current;
+
+            RecalculateBounds();
+
+            m_Empty = false;
+            m_InitialActiveParticleCount = m_ActiveParticleCount;
+
+            foreach (IObiConstraints constraints in GetConstraints())
+                for (int i = 0; i < constraints.batchCount; ++i)
+                    constraints.GetBatch(i).initialActiveConstraintCount = constraints.GetBatch(i).activeConstraintCount;
+
+            CommitBlueprintChanges();
+
+#if UNITY_EDITOR
+            if (!Application.isPlaying)
+            {
+                EditorUtility.SetDirty(this);
+            }
+#endif
+
+            OnBlueprintGenerate?.Invoke(this);
+        }
+
+        // Called at the end of blueprint generation. Also automatically called when exiting blueprint editor.
+        // This generates a checksum for the blueprint, and in some case extra data (such as default skinmaps for cloth and softbodies).
+        public virtual void CommitBlueprintChanges()
+        {
+            GenerateChecksum();
+        }
+
+        public void Clear()
+        {
+            m_Empty = true;
+            edited = false;
+
+            m_ActiveParticleCount = 0;
+            positions = null;
+            restPositions = null;
+            orientations = null;
+            restOrientations = null;
+            velocities = null;
+            angularVelocities = null;
+            invMasses = null;
+            invRotationalMasses = null;
+            filters = null;
+            principalRadii = null;
+            colors = null;
+
+            points = null;
+            edges = null;
+            triangles = null;
+
+            distanceConstraintsData = null;
+            bendConstraintsData = null;
+            skinConstraintsData = null;
+            tetherConstraintsData = null;
+            bendTwistConstraintsData = null;
+            stretchShearConstraintsData = null;
+            shapeMatchingConstraintsData = null;
+            aerodynamicConstraintsData = null;
+            chainConstraintsData = null;
+            volumeConstraintsData = null;
+
+        }
+
+        public ObiParticleGroup InsertNewParticleGroup(string name, int index, bool saveImmediately = true)
+        {
+            if (index >= 0 && index <= groups.Count)
+            {
+                ObiParticleGroup group = ScriptableObject.CreateInstance<ObiParticleGroup>();
+                group.SetSourceBlueprint(this);
+                group.name = name;
+
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    AssetDatabase.AddObjectToAsset(group, this);
+                    Undo.RegisterCreatedObjectUndo(group, "Insert particle group");
+
+                    Undo.RecordObject(this, "Insert particle group");
+                    groups.Insert(index, group);
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssetIfDirty(this);
+                    }
+                }
+                else
+#endif
+                {
+                    groups.Insert(index, group);
+                }
+
+                edited = true;
+
+                return group;
+            }
+            return null;
+        }
+
+        public ObiParticleGroup AppendNewParticleGroup(string name, bool saveImmediately = true)
+        {
+            return InsertNewParticleGroup(name, groups.Count, saveImmediately);
+        }
+
+        public bool RemoveParticleGroupAt(int index, bool saveImmediately = true)
+        {
+            if (index >= 0 && index < groups.Count)
+            {
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    Undo.RecordObject(this, "Remove particle group");
+
+                    var group = groups[index];
+                    groups.RemoveAt(index);
+
+                    if (group != null)
+                        Undo.DestroyObjectImmediate(group);
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssetIfDirty(this);
+                    }
+                }
+                else
+#endif
+                {
+                    var group = groups[index];
+                    groups.RemoveAt(index);
+
+                    if (group != null)
+                        DestroyImmediate(group, true);
+                }
+
+                edited = true;
+
+                return true;
+            }
+            return false;
+        }
+
+        public bool SetParticleGroupName(int index, string name, bool saveImmediately = true)
+        {
+            if (index >= 0 && index < groups.Count)
+            {
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    Undo.RecordObject(this, "Set particle group name");
+                    groups[index].name = name;
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssetIfDirty(this);
+                    }
+                }
+                else
+#endif
+                {
+                    groups[index].name = name;
+                }
+
+                edited = true;
+
+                return true;
+            }
+            return false;
+        }
+
+        public void ClearParticleGroups(bool registerUndo = true, bool saveImmediately = true)
+        {
+            if (groups.Count == 0) return;
+
+#if UNITY_EDITOR
+            if (!Application.isPlaying)
+            {
+                if (registerUndo)
+                {
+                    Undo.RecordObject(this, "Clear particle groups");
+                    for (int i = 0; i < groups.Count; ++i)
+                        if (groups[i] != null)
+                            Undo.DestroyObjectImmediate(groups[i]);
+                }
+                else
+                {
+                    for (int i = 0; i < groups.Count; ++i)
+                        if (groups[i] != null)
+                            DestroyImmediate(groups[i], true);
+                }
+
+                if (EditorUtility.IsPersistent(this))
+                {
+                    EditorUtility.SetDirty(this);
+                    if (saveImmediately)
+                        AssetDatabase.SaveAssetIfDirty(this);
+                }
+            }
+            else
+#endif
+            {
+                for (int i = 0; i < groups.Count; ++i)
+                    if (groups[i] != null)
+                        DestroyImmediate(groups[i], true);
+            }
+
+            groups.Clear();
+        }
+
+        private bool IsParticleSharedInConstraint(int index, List<int> particles, bool[] selected)
+        {
+            bool containsCurrent = false;
+            bool containsUnselected = false;
+
+            for (int k = 0; k < particles.Count; ++k)
+            {
+                containsCurrent    |= particles[k] == index;
+                containsUnselected |= !selected[particles[k]];
+
+                if (containsCurrent && containsUnselected)
+                {
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        private bool DoesParticleShareConstraints(IObiConstraints constraints, int index, List<int> particles, bool[] selected)
+        {
+            bool shared = false;
+            for (int i = 0; i < constraints.batchCount; ++i)
+            {
+                var batch = constraints.GetBatch(i);
+                for (int j = 0; j < batch.activeConstraintCount; ++j)
+                {
+                    particles.Clear();
+                    batch.GetParticlesInvolved(j, particles);
+
+                    if (shared |= IsParticleSharedInConstraint(index, particles, selected))
+                        break;
+                }
+
+                if (shared)
+                    break;
+            }
+            return shared;
+        }
+
+        private void DeactivateConstraintsWithInactiveParticles(IObiConstraints constraints, List<int> particles)
+        {
+            for (int j = 0; j < constraints.batchCount; ++j)
+            {
+                var batch = constraints.GetBatch(j);
+
+                for (int i = batch.activeConstraintCount - 1; i >= 0; --i)
+                {
+                    particles.Clear();
+                    batch.GetParticlesInvolved(i, particles);
+                    for (int k = 0; k < particles.Count; ++k)
+                    {
+                        if (!IsParticleActive(particles[k]))
+                        {
+                            batch.DeactivateConstraint(i);
+                            break;
+                        }
+                    }
+                }
+            }
+
+            edited = true;
+        }
+
+        private void ParticlesSwappedInGroups(int index, int newIndex)
+        {
+            // Update groups:
+            foreach (ObiParticleGroup group in groups)
+            {
+                for (int i = 0; i < group.particleIndices.Count; ++i)
+                {
+                    if (group.particleIndices[i] == newIndex)
+                        group.particleIndices[i] = index;
+                    else if (group.particleIndices[i] == index)
+                        group.particleIndices[i] = newIndex;
+                }
+            }
+
+            edited = true;
+        }
+
+        public virtual void RemoveSelectedParticles(ref bool[] selected, bool optimize = true)
+        {
+            List<int> particles = new List<int>();
+
+            // iterate over all particles and get those selected ones that are only constrained to other selected ones.
+            for (int i = activeParticleCount - 1; i >= 0; --i)
+            {
+                // if the particle is not selected for optimization, skip it.
+                if (!selected[i])
+                    continue;
+
+                // look if the particle shares distance or shape matching constraints with an unselected particle.
+                bool shared = false;
+                if (optimize)
+                {
+                    shared |= DoesParticleShareConstraints(distanceConstraintsData, i, particles, selected);
+                    shared |= DoesParticleShareConstraints(bendConstraintsData, i, particles, selected);
+                    shared |= DoesParticleShareConstraints(shapeMatchingConstraintsData, i, particles, selected);
+                }
+
+                if (!shared)
+                {
+                    if (DeactivateParticle(i))
+                    {
+                        selected.Swap(i, m_ActiveParticleCount);
+
+                        // Update constraints:
+                        foreach (IObiConstraints constraints in GetConstraints())
+                            for (int j = 0; j < constraints.batchCount; ++j)
+                                constraints.GetBatch(j).ParticlesSwapped(i, m_ActiveParticleCount);
+
+                        // Update groups:
+                        ParticlesSwappedInGroups(i, m_ActiveParticleCount);
+                    }
+                }
+
+            }
+
+            // deactivate all constraints that reference inactive particles:
+            foreach (IObiConstraints constraints in GetConstraints())
+                DeactivateConstraintsWithInactiveParticles(constraints, particles);
+
+            CommitBlueprintChanges();
+
+            edited = true;
+        }
+
+        public void RestoreRemovedParticles()
+        {
+            m_ActiveParticleCount = m_InitialActiveParticleCount;
+
+            foreach (IObiConstraints constraints in GetConstraints())
+                for (int j = 0; j < constraints.batchCount; ++j)
+                    constraints.GetBatch(j).activeConstraintCount = constraints.GetBatch(j).initialActiveConstraintCount;
+
+            CommitBlueprintChanges();
+        }
+
+        public virtual void GenerateTethers(bool[] selected) { }
+        public virtual void ClearTethers() { }
+
+        protected abstract IEnumerator Initialize();
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta
new file mode 100644
index 00000000..599d5ac9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e041cee7fba0844ba933278f278090ce
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs
new file mode 100644
index 00000000..cd4792ba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public abstract class ObiMeshBasedActorBlueprint : ObiActorBlueprint
+    {
+        public Mesh inputMesh;               /**< Mesh used to generate the blueprint.*/
+        public Vector3 scale = Vector3.one;
+        public Quaternion rotation = Quaternion.identity;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta
new file mode 100644
index 00000000..1f175fe2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5a20734f05b7e41d89888f99cc0e88f2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs
new file mode 100644
index 00000000..2f6bf501
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs
@@ -0,0 +1,35 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiParticleGroup : ScriptableObject
+    {
+        public List<int> particleIndices = new List<int>() { };
+        public ObiActorBlueprint m_Blueprint = null;
+
+        public ObiActorBlueprint blueprint
+        {
+            get { return m_Blueprint; }
+        }
+
+        public void SetSourceBlueprint(ObiActorBlueprint blueprint)
+        {
+            this.m_Blueprint = blueprint;
+        }
+
+        public int Count
+        {
+            get { return particleIndices.Count; }
+        }
+
+        public bool ContainsParticle(int index)
+        {
+            return particleIndices.Contains(index);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta
new file mode 100644
index 00000000..c7293e09
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions.meta
new file mode 100644
index 00000000..f69d8090
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions.meta
@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta
new file mode 100644
index 00000000..8f55bd38
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta
@@ -0,0 +1,9 @@
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+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta
new file mode 100644
index 00000000..98f5ed00
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta
@@ -0,0 +1,9 @@
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+guid: e56c9feb62e6b4f9ea6517ebb106419b
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
new file mode 100644
index 00000000..3619a420
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiBoxShapeTracker2D : ObiShapeTracker
+	{
+		public ObiBoxShapeTracker2D(ObiCollider2D source, BoxCollider2D collider){
+            this.source = source;
+			this.collider = collider;
+		}		
+	
+		public override void UpdateIfNeeded (){
+
+			BoxCollider2D box = collider as BoxCollider2D;
+
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = true;
+            shape.type = ColliderShape.ShapeType.Box;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = box.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness + box.edgeRadius;
+            shape.center = box.offset;
+            shape.size = box.size;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(box.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform2D(box.transform, source.Rigidbody as ObiRigidbody2D);
+            world.colliderTransforms[index] = trfm;
+		}
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta
new file mode 100644
index 00000000..90d91f6c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: e3701e56c1528404daa61e704345b750
+timeCreated: 1501960568
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
new file mode 100644
index 00000000..1351eefc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
@@ -0,0 +1,53 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCapsuleShapeTracker2D : ObiShapeTracker
+	{
+		public ObiCapsuleShapeTracker2D(ObiCollider2D source, CapsuleCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+	
+		public override void UpdateIfNeeded ()
+        {
+			CapsuleCollider2D capsule = collider as CapsuleCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = true;
+            shape.type = ColliderShape.ShapeType.Capsule;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = capsule.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = capsule.offset;
+            Vector2 size = capsule.size;
+            shape.size = new Vector4((capsule.direction == CapsuleDirection2D.Horizontal ? size.y : size.x) * 0.5f,
+                                      Mathf.Max(size.x, size.y),
+                                      capsule.direction == CapsuleDirection2D.Horizontal ? 0 : 1, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(capsule.bounds, shape.contactOffset,true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform2D(capsule.transform, source.Rigidbody as ObiRigidbody2D);
+            world.colliderTransforms[index] = trfm;
+		}
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta
new file mode 100644
index 00000000..9e500572
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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+guid: fe1cd08d83cfe4785b8d5bb8e0bd3dd9
+timeCreated: 1501961541
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
new file mode 100644
index 00000000..7e8700de
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
@@ -0,0 +1,52 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCircleShapeTracker2D : ObiShapeTracker
+	{
+
+		public ObiCircleShapeTracker2D(ObiCollider2D source, CircleCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+
+		public override void UpdateIfNeeded ()
+        {
+
+			CircleCollider2D sphere = collider as CircleCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = true;
+            shape.type = ColliderShape.ShapeType.Sphere;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = sphere.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = sphere.offset;
+            shape.size = Vector3.one * sphere.radius;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(sphere.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform2D(sphere.transform, source.Rigidbody as ObiRigidbody2D);
+            world.colliderTransforms[index] = trfm;
+        }
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta
new file mode 100644
index 00000000..e2c7b7f3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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+guid: 4290734bafa8c46d8862202365a9f83b
+timeCreated: 1501960324
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
new file mode 100644
index 00000000..7ccf6b53
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
@@ -0,0 +1,72 @@
+using System;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiEdgeShapeTracker2D : ObiShapeTracker
+	{
+        ObiEdgeMeshHandle handle;
+
+        public ObiEdgeShapeTracker2D(ObiCollider2D source, EdgeCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}		
+
+		public void UpdateEdgeData()
+        {
+            ObiColliderWorld.GetInstance().DestroyEdgeMesh(handle);
+        }
+	
+		public override void UpdateIfNeeded (){
+
+			EdgeCollider2D edgeCollider = collider as EdgeCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // get or create the mesh:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateEdgeMesh(edgeCollider);
+                handle.Reference();
+            }
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = true;
+            shape.type = ColliderShape.ShapeType.EdgeMesh;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = edgeCollider.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.center = edgeCollider.offset;
+            shape.contactOffset = source.Thickness + edgeCollider.edgeRadius;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(edgeCollider.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform2D(edgeCollider.transform, source.Rigidbody as ObiRigidbody2D);
+            world.colliderTransforms[index] = trfm;
+		}
+
+        public override void Destroy()
+        {
+            base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyEdgeMesh(handle);
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta
new file mode 100644
index 00000000..07524ca7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta
new file mode 100644
index 00000000..859897cc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta
@@ -0,0 +1,9 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
new file mode 100644
index 00000000..f3fd6a45
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
@@ -0,0 +1,51 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiBoxShapeTracker : ObiShapeTracker
+	{
+
+		public ObiBoxShapeTracker(ObiCollider source, BoxCollider collider)
+        {
+            this.source = source;
+            this.collider = collider;
+		}		
+	
+		public override void UpdateIfNeeded (){
+
+			BoxCollider box = collider as BoxCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Box;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = box.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = box.center;
+            shape.size = box.size;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(box.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(box.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+
+		}
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta
new file mode 100644
index 00000000..9e3ef16f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
new file mode 100644
index 00000000..5f74d5bb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
@@ -0,0 +1,49 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCapsuleShapeTracker : ObiShapeTracker
+	{
+
+		public ObiCapsuleShapeTracker(ObiCollider source, CapsuleCollider collider){
+			this.collider = collider;
+            this.source = source;
+		}	
+	
+		public override void UpdateIfNeeded (){
+
+            CapsuleCollider capsule = collider as CapsuleCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Capsule;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = capsule.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = capsule.center;
+            shape.size = new Vector4(capsule.radius, capsule.height, capsule.direction, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(capsule.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(capsule.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+        }
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta
new file mode 100644
index 00000000..488258d0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+guid: ab81f697ad33c47c0b487129c7ef1761
+timeCreated: 1501961541
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
new file mode 100644
index 00000000..1ef9203e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
@@ -0,0 +1,52 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ObiCharacterControllerShapeTracker : ObiShapeTracker
+    {
+
+        public ObiCharacterControllerShapeTracker(ObiCollider source, CharacterController collider)
+        {
+            this.collider = collider;
+            this.source = source;
+        }
+
+        public override void UpdateIfNeeded()
+        {
+
+            CharacterController character = collider as CharacterController;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Capsule;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = character.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = character.center;
+            shape.size = new Vector4(character.radius, character.height, 1, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(character.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(character.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta
new file mode 100644
index 00000000..ccbb3adb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta
@@ -0,0 +1,11 @@
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+guid: 3c77ed89a210345ce9e9e549d11263db
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
new file mode 100644
index 00000000..98a34d3f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
@@ -0,0 +1,88 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiDistanceFieldShapeTracker : ObiShapeTracker
+	{
+		public ObiDistanceField distanceField;
+        ObiDistanceFieldHandle handle;
+
+
+		public ObiDistanceFieldShapeTracker(ObiCollider source, Component collider, ObiDistanceField distanceField){
+
+            this.source = source;
+            this.collider = collider;
+            this.distanceField = distanceField;
+		}
+
+        /**
+		 * Forces the tracker to update distance field data during the next call to UpdateIfNeeded().
+		 */
+        public void UpdateDistanceFieldData()
+        {
+            ObiColliderWorld.GetInstance().DestroyDistanceField(handle);
+        }
+
+        public override void UpdateIfNeeded ()
+        {
+
+            bool trigger = false;
+            if (collider is Collider) trigger = ((Collider)collider).isTrigger;
+            else if (collider is Collider2D) trigger = ((Collider2D)collider).isTrigger;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // decrease reference count of current handle if the df data it points to is different
+            // than the df used by the collider:
+            if (handle != null && handle.owner != distanceField)
+            {
+                if (handle.Dereference())
+                    world.DestroyDistanceField(handle);
+            }
+
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateDistanceField(distanceField);
+                handle.Reference();
+            }
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.SignedDistanceField;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = trigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(distanceField.FieldBounds.Transform(source.transform.localToWorldMatrix), shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(source.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+        }
+
+        public override void Destroy()
+        {
+            base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyDistanceField(handle);
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta
new file mode 100644
index 00000000..71b25fc8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1504879085
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
new file mode 100644
index 00000000..f710e2ec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
@@ -0,0 +1,91 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiMeshShapeTracker : ObiShapeTracker
+	{
+        ObiTriangleMeshHandle handle;
+
+        public Mesh targetMesh
+        {
+            get {
+                var mc = collider as MeshCollider;
+                return mc?.sharedMesh;
+            }
+        }
+
+		public ObiMeshShapeTracker(ObiCollider source, MeshCollider collider){
+
+            this.source = source;
+			this.collider = collider;
+		}
+
+        /**
+		 * Forces the tracker to update mesh data during the next call to UpdateIfNeeded().
+		 */
+        public void UpdateMeshData()
+        {
+            ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
+        }
+	
+		public override void UpdateIfNeeded ()
+        {
+
+            MeshCollider meshCollider = collider as MeshCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // decrease reference count of current handle if the mesh data it points to is different
+            // than the mesh used by the collider:
+            if (handle != null && handle.owner != meshCollider.sharedMesh)
+            {
+                if (handle.Dereference())
+                    world.DestroyTriangleMesh(handle);
+            }
+
+            // get or create the mesh:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateTriangleMesh(meshCollider.sharedMesh);
+                handle.Reference();
+            }
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.TriangleMesh;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = meshCollider.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(meshCollider.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(meshCollider.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+        }
+
+		public override void Destroy()
+        {
+			base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
+		}
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta
new file mode 100644
index 00000000..f7911fbb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1502875710
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
new file mode 100644
index 00000000..69bd4ba4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
@@ -0,0 +1,20 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public abstract class ObiShapeTracker
+	{
+        protected ObiColliderBase source;
+		protected Component collider;
+
+		public virtual void Destroy(){
+		}
+
+		public abstract void UpdateIfNeeded ();
+
+	}
+
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta
new file mode 100644
index 00000000..749c718f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+guid: 5f455a735ac894ee7bddecd2b5a64ca8
+timeCreated: 1501960324
+licenseType: Store
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
new file mode 100644
index 00000000..85b3131f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
@@ -0,0 +1,50 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiSphereShapeTracker : ObiShapeTracker
+	{
+
+		public ObiSphereShapeTracker(ObiCollider source, SphereCollider collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+
+		public override void UpdateIfNeeded()
+        {
+			SphereCollider sphere = collider as SphereCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Sphere;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = sphere.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = sphere.center;
+            shape.size = Vector3.one * sphere.radius;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(sphere.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(sphere.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+		}
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta
new file mode 100644
index 00000000..94685360
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1501960324
+licenseType: Store
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
new file mode 100644
index 00000000..59774168
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
@@ -0,0 +1,75 @@
+using System;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiTerrainShapeTracker : ObiShapeTracker
+	{
+        ObiHeightFieldHandle handle;
+
+        public ObiTerrainShapeTracker(ObiCollider source, TerrainCollider collider){
+
+            this.source = source;
+			this.collider = collider;
+		}		
+
+		public void UpdateHeightData()
+        {
+            ObiColliderWorld.GetInstance().DestroyHeightField(handle);
+        }
+	
+		public override void UpdateIfNeeded ()
+        {
+
+            TerrainCollider terrain = collider as TerrainCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            int resolution = terrain.terrainData.heightmapResolution;
+
+            // get or create the heightfield:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateHeightField(terrain.terrainData);
+                handle.Reference();
+            }
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Heightmap;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = terrain.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            shape.size = terrain.terrainData.size;
+            shape.center = new Vector4(resolution, resolution, resolution, resolution);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(terrain.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(terrain.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
+        }
+
+		public override void Destroy()
+        {
+			base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyHeightField(handle);
+        }
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta
new file mode 100644
index 00000000..21b385e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 601187ba897f54e20b787637df64e96b
+timeCreated: 1502808634
+licenseType: Store
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
new file mode 100644
index 00000000..71ad68ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
@@ -0,0 +1,117 @@
+using UnityEngine;
+using UnityEngine.Serialization;
+
+namespace Obi
+{
+
+    /**
+	 * Add this component to any Collider that you want to be considered by Obi.
+	 */
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Collider))]
+    public class ObiCollider : ObiColliderBase
+    {
+
+        [SerializeProperty("sourceCollider")]
+        [FormerlySerializedAs("SourceCollider")]
+        [SerializeField] private Collider m_SourceCollider;
+
+        /// <summary>
+        /// The Unity collider that this ObiCollider should mimic.
+        /// </summary>
+        /// This is automatically set when you first create the ObiCollider component, but you can override it afterwards.
+        public Collider sourceCollider
+        {
+            set
+            {
+                if (value != null && value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The Collider component must reside in the same GameObject as ObiCollider.");
+                    return;
+                }
+
+                RemoveCollider();
+                m_SourceCollider = value;
+                AddCollider();
+
+            }
+            get { return m_SourceCollider; }
+        }
+
+        [SerializeProperty("distanceField")]
+        [FormerlySerializedAs("distanceField")]
+        [SerializeField] private ObiDistanceField m_DistanceField;
+
+        /// <summary>
+        /// The distance field used by this collider.
+        /// </summary>
+        /// Setting a distance field will cause the collider to ignore its <see cref="m_SourceCollider"/> and use the distance field instead.
+        public ObiDistanceField distanceField
+        {
+            set
+            {
+                if (m_DistanceField != value)
+                {
+                    m_DistanceField = value;
+                    CreateTracker();
+                }
+            }
+            get { return m_DistanceField; }
+        }
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected override void CreateTracker()
+        {
+
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+
+            if (distanceField != null)
+                tracker = new ObiDistanceFieldShapeTracker(this, m_SourceCollider, distanceField);
+            else
+            {
+
+                if (m_SourceCollider is SphereCollider)
+                    tracker = new ObiSphereShapeTracker(this, (SphereCollider)m_SourceCollider);
+                else if (m_SourceCollider is BoxCollider)
+                    tracker = new ObiBoxShapeTracker(this, (BoxCollider)m_SourceCollider);
+                else if (m_SourceCollider is CapsuleCollider)
+                    tracker = new ObiCapsuleShapeTracker(this, (CapsuleCollider)m_SourceCollider);
+                else if (m_SourceCollider is CharacterController)
+                    tracker = new ObiCharacterControllerShapeTracker(this, (CharacterController)m_SourceCollider);
+                else if (m_SourceCollider is TerrainCollider)
+                    tracker = new ObiTerrainShapeTracker(this, (TerrainCollider)m_SourceCollider);
+                else if (m_SourceCollider is MeshCollider)
+                    tracker = new ObiMeshShapeTracker(this,(MeshCollider)m_SourceCollider);
+                else
+                    Debug.LogWarning("Collider type not supported by Obi.");
+
+            }
+
+        }
+
+        protected override Component GetUnityCollider(ref bool enabled)
+        {
+
+            if (m_SourceCollider != null)
+                enabled = m_SourceCollider.enabled;
+
+            return m_SourceCollider;
+        }
+
+        protected override void FindSourceCollider()
+        {
+            if (sourceCollider == null)
+                sourceCollider = GetComponent<Collider>();
+            else
+                AddCollider();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta
new file mode 100644
index 00000000..430e5477
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6757b231cedd544c583ef8aeaf773b2a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 6da22d6bce08a4f3d86542bb903de689, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs
new file mode 100644
index 00000000..2ebcd494
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs
@@ -0,0 +1,82 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+	 * Add this component to any Collider that you want to be considered by Obi.
+	 */
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Collider2D))]
+    public class ObiCollider2D : ObiColliderBase
+    {
+        [SerializeProperty("SourceCollider")]
+        [SerializeField] private Collider2D sourceCollider;
+
+        public Collider2D SourceCollider
+        {
+            set
+            {
+                if (value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The Collider component must reside in the same GameObject as ObiCollider.");
+                }
+                else
+                {
+                    sourceCollider = value;
+
+                    RemoveCollider();
+                    AddCollider();
+                }
+            }
+            get { return sourceCollider; }
+        }
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected override void CreateTracker()
+        {
+
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+
+            if (sourceCollider is CircleCollider2D)
+                tracker = new ObiCircleShapeTracker2D(this,(CircleCollider2D)sourceCollider);
+            else if (sourceCollider is BoxCollider2D)
+                tracker = new ObiBoxShapeTracker2D(this,(BoxCollider2D)sourceCollider);
+            else if (sourceCollider is CapsuleCollider2D)
+                tracker = new ObiCapsuleShapeTracker2D(this,(CapsuleCollider2D)sourceCollider);
+            else if (sourceCollider is EdgeCollider2D)
+                tracker = new ObiEdgeShapeTracker2D(this,(EdgeCollider2D)sourceCollider);
+            else
+                Debug.LogWarning("Collider2D type not supported by Obi.");
+
+        }
+
+        protected override Component GetUnityCollider(ref bool enabled)
+        {
+
+            if (sourceCollider != null)
+                enabled = sourceCollider.enabled;
+
+            return sourceCollider;
+        }
+
+        protected override void FindSourceCollider()
+        {
+            if (SourceCollider == null)
+                SourceCollider = GetComponent<Collider2D>();
+            else
+                AddCollider();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta
new file mode 100644
index 00000000..06928c2a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 7f6a9934a1a0f44e89ccbb25355461bb
+timeCreated: 1503509235
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: e7185d0557058412db2fc499de3a0739, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
new file mode 100644
index 00000000..e69061de
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
@@ -0,0 +1,228 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    /**
+	 * Implements common functionality for ObiCollider and ObiCollider2D.
+	 */
+    public abstract class ObiColliderBase : MonoBehaviour
+    {
+
+        [SerializeProperty("Thickness")]
+        [SerializeField] private float thickness = 0;
+
+        [SerializeProperty("Inverted")]
+        [SerializeField] private bool inverted = false;
+
+        [SerializeProperty("CollisionMaterial")]
+        [SerializeField] private ObiCollisionMaterial material;
+
+        [SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+
+        public ObiCollisionMaterial CollisionMaterial
+        {
+            set
+            {
+                if (material != value)
+                {
+                    material = value;
+                    needsUpdate = true;
+                }
+            }
+            get { return material; }
+        }
+
+        public int Filter
+        {
+            set
+            {
+                if (filter != value)
+                {
+                    filter = value;
+                    needsUpdate = true;
+                }
+            }
+            get { return filter; }
+        }
+
+        public float Thickness
+        {
+            set
+            {
+                if (!Mathf.Approximately(thickness, value))
+                {
+                    thickness = value;
+                    needsUpdate = true;
+                }
+            }
+            get { return thickness; }
+        }
+
+        public bool Inverted
+        {
+            set
+            {
+                if (inverted != value)
+                {
+                    inverted = value;
+                    needsUpdate = true;
+                }
+            }
+            get { return inverted; }
+        }
+
+        public ObiShapeTracker Tracker
+        {
+            get { return tracker; }
+        }
+
+        public ObiColliderHandle Handle
+        {
+            get
+            {
+                if (shapeHandle == null)
+                    FindSourceCollider();
+                return shapeHandle;
+            }
+        }
+
+        public ObiForceZone ForceZone 
+        {
+            get; set;
+        }
+
+        public ObiRigidbodyBase Rigidbody
+        {
+            get { return obiRigidbody; }
+        }
+
+        protected ObiColliderHandle shapeHandle;
+        protected ObiRigidbodyBase obiRigidbody;
+        protected bool wasUnityColliderEnabled = true;
+        protected bool needsUpdate = true;
+
+        protected ObiShapeTracker tracker;                               /**< tracker object used to determine when to update the collider's shape*/
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected abstract void CreateTracker();
+
+        protected abstract Component GetUnityCollider(ref bool enabled);
+
+        protected abstract void FindSourceCollider();
+
+        protected void CreateRigidbody()
+        {
+
+            obiRigidbody = null;
+
+            // find the first rigidbody up our hierarchy:
+            Rigidbody rb = GetComponentInParent<Rigidbody>();
+            Rigidbody2D rb2D = GetComponentInParent<Rigidbody2D>();
+
+            // if we have an rigidbody above us, see if it has a ObiRigidbody component and add one if it doesn't:
+            if (rb != null)
+            {
+
+                obiRigidbody = rb.GetComponent<ObiRigidbody>();
+
+                if (obiRigidbody == null)
+                    obiRigidbody = rb.gameObject.AddComponent<ObiRigidbody>();
+
+            }
+            else if (rb2D != null)
+            {
+
+                obiRigidbody = rb2D.GetComponent<ObiRigidbody2D>();
+
+                if (obiRigidbody == null)
+                    obiRigidbody = rb2D.gameObject.AddComponent<ObiRigidbody2D>();
+
+            }
+
+        }
+
+        private void OnTransformParentChanged()
+        {
+            CreateRigidbody();
+        }
+
+        protected void AddCollider()
+        {
+
+            Component unityCollider = GetUnityCollider(ref wasUnityColliderEnabled);
+
+            if (unityCollider != null && (shapeHandle == null || !shapeHandle.isValid))
+            {
+                shapeHandle = ObiColliderWorld.GetInstance().CreateCollider();
+                shapeHandle.owner = this;
+
+                // Create shape tracker:
+                CreateTracker();
+
+                // Create rigidbody if necessary, and link ourselves to it:
+                CreateRigidbody();
+            }
+
+        }
+
+        protected void RemoveCollider()
+        {
+            ObiColliderWorld.GetInstance().DestroyCollider(shapeHandle);
+
+            // Destroy shape tracker:
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+        }
+
+        public void ForceUpdate()
+        {
+            needsUpdate = true;
+        }
+
+        /** 
+		 * Check if the collider transform or its shape have changed any relevant property, and update their Oni counterparts.
+		 */
+        public void UpdateIfNeeded()
+        {
+            bool unityColliderEnabled = false;
+            Component unityCollider = GetUnityCollider(ref unityColliderEnabled);
+
+            if (unityCollider != null)
+            {
+                // Only if this object is not static:
+                if (tracker != null && needsUpdate)
+                {
+                    tracker.UpdateIfNeeded();
+                }
+
+                // store isStatic, *after* updating the tracker at least once.
+                needsUpdate = !unityCollider.gameObject.isStatic;
+            }
+            // If the unity collider is null but its handle is valid, the unity collider has been destroyed.
+            else if (shapeHandle != null && shapeHandle.isValid)
+                RemoveCollider();
+        }
+
+        private void OnEnable()
+        {
+            needsUpdate = true;
+
+            // Initialize using the source collider specified by the user (or find an appropiate one).
+            FindSourceCollider();
+        }
+
+        private void OnDisable()
+        {
+            RemoveCollider();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta
new file mode 100644
index 00000000..7bc649a2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5a055da07c6fe4debad9680a4b251f7a
+timeCreated: 1503477796
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
new file mode 100644
index 00000000..f92b9d5a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
@@ -0,0 +1,646 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    public class ObiResourceHandle<T> where T : class
+    {
+        public T owner = null;               /**< reference to the owner instance*/
+        public int index = -1;               /**< index of this resource in the collision world.*/
+        private int referenceCount = 0;      /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
+
+        public bool isValid
+        {
+            get { return index >= 0; }
+        }
+
+        public void Invalidate()
+        {
+            index = -1;
+            referenceCount = 0;
+        }
+
+        public void Reference()
+        {
+            referenceCount++;
+        }
+
+        public bool Dereference()
+        {
+            return --referenceCount == 0;
+        }
+
+        public ObiResourceHandle(int index = -1)
+        {
+            this.index = index;
+            owner = null;
+        }
+    }
+
+    public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
+    {
+        public ObiColliderHandle(int index = -1) : base(index) { }
+    }
+    public class ObiForceZoneHandle : ObiResourceHandle<ObiForceZone>
+    {
+        public ObiForceZoneHandle(int index = -1) : base(index) { }
+    }
+    public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
+    {
+        public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
+    }
+    public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
+    {
+        public ObiRigidbodyHandle(int index = -1) : base(index) { }
+    }
+
+    public class ObiColliderWorld
+    {
+        [NonSerialized] public List<IColliderWorldImpl> implementations;
+
+        [NonSerialized] public List<ObiColliderHandle> colliderHandles;           // list of collider handles, used by ObiCollider components to retrieve them.
+        [NonSerialized] public ObiNativeColliderShapeList colliderShapes;         // list of collider shapes.
+        [NonSerialized] public ObiNativeAabbList colliderAabbs;                   // list of collider bounds.
+        [NonSerialized] public ObiNativeAffineTransformList colliderTransforms;   // list of collider transforms.
+
+        [NonSerialized] public List<ObiForceZoneHandle> forceZoneHandles;         // list of collider handles, used by ObiForceZone components to retrieve them.
+        [NonSerialized] public ObiNativeForceZoneList forceZones;                 // list of collider force zones.
+
+        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;  // list of material handles, used by ObiCollisionMaterial components to retrieve them.
+        [NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
+
+        [NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles;         // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
+        [NonSerialized] public ObiNativeRigidbodyList rigidbodies;                // list of rigidbodies.
+
+        [NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
+        [NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
+        [NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
+        [NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
+
+        private List<ObiColliderHandle> collidersToCreate;
+        private List<ObiColliderHandle> collidersToDestroy;
+
+        private List<ObiForceZoneHandle> forceZonesToCreate;
+        private List<ObiForceZoneHandle> forceZonesToDestroy;
+
+        private List<ObiRigidbodyHandle> rigidbodiesToCreate;
+        private List<ObiRigidbodyHandle> rigidbodiesToDestroy;
+
+        private bool updatedThisFrame = false;
+
+        private static ObiColliderWorld instance;
+
+        public static ObiColliderWorld GetInstance()
+        {
+            if (instance == null)
+            {
+                instance = new ObiColliderWorld();
+                instance.Initialize();
+            }
+            return instance;
+        }
+
+        private void Initialize()
+        {
+            // Allocate all lists:
+            if (implementations == null)
+                implementations = new List<IColliderWorldImpl>();
+
+            if (colliderHandles == null)
+                colliderHandles = new List<ObiColliderHandle>();
+            if (colliderShapes == null)
+                colliderShapes = new ObiNativeColliderShapeList();
+            if (colliderAabbs == null)
+                colliderAabbs = new ObiNativeAabbList();
+            if (colliderTransforms == null)
+                colliderTransforms = new ObiNativeAffineTransformList();
+
+            if (forceZoneHandles == null)
+                forceZoneHandles = new List<ObiForceZoneHandle>();
+            if (forceZones == null)
+                forceZones = new ObiNativeForceZoneList();
+
+            if (materialHandles == null)
+                materialHandles = new List<ObiCollisionMaterialHandle>();
+            if (collisionMaterials == null)
+                collisionMaterials = new ObiNativeCollisionMaterialList();
+
+            if (rigidbodyHandles == null)
+                rigidbodyHandles = new List<ObiRigidbodyHandle>();
+            if (rigidbodies == null)
+                rigidbodies = new ObiNativeRigidbodyList();
+
+            if (triangleMeshContainer == null)
+                triangleMeshContainer = new ObiTriangleMeshContainer();
+            if (edgeMeshContainer == null)
+                edgeMeshContainer = new ObiEdgeMeshContainer();
+            if (distanceFieldContainer == null)
+                distanceFieldContainer = new ObiDistanceFieldContainer();
+            if (heightFieldContainer == null)
+                heightFieldContainer = new ObiHeightFieldContainer();
+
+            if (collidersToCreate == null)
+                collidersToCreate = new List<ObiColliderHandle>();
+            if (collidersToDestroy == null)
+                collidersToDestroy = new List<ObiColliderHandle>();
+
+            if (forceZonesToCreate == null)
+                forceZonesToCreate = new List<ObiForceZoneHandle>();
+            if (forceZonesToDestroy == null)
+                forceZonesToDestroy = new List<ObiForceZoneHandle>();
+
+            if (rigidbodiesToCreate == null)
+                rigidbodiesToCreate = new List<ObiRigidbodyHandle>();
+            if (rigidbodiesToDestroy == null)
+                rigidbodiesToDestroy = new List<ObiRigidbodyHandle>();
+        }
+
+        private void Destroy()
+        {
+            updatedThisFrame = false;
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
+                implementations[i].UpdateWorld(0);
+            }
+
+            // Invalidate all handles:
+            if (colliderHandles != null)
+                foreach (var handle in colliderHandles)
+                    handle.Invalidate();
+
+            if (rigidbodyHandles != null)
+                foreach (var handle in rigidbodyHandles)
+                    handle.Invalidate();
+
+            if (materialHandles != null)
+                foreach (var handle in materialHandles)
+                    handle.Invalidate();
+
+            if (forceZoneHandles != null)
+                foreach (var handle in forceZoneHandles)
+                    handle.Invalidate();
+
+            // Dispose of all lists:
+            implementations = null;
+            colliderHandles = null;
+            rigidbodyHandles = null;
+            materialHandles = null;
+            forceZoneHandles = null;
+
+            collidersToCreate = null;
+            collidersToDestroy = null;
+            forceZonesToCreate = null;
+            forceZonesToDestroy = null;
+            rigidbodiesToCreate = null;
+            rigidbodiesToDestroy = null;
+
+            colliderShapes?.Dispose();
+            colliderAabbs?.Dispose();
+            colliderTransforms?.Dispose();
+            forceZones?.Dispose();
+            collisionMaterials?.Dispose();
+            rigidbodies?.Dispose();
+
+            triangleMeshContainer?.Dispose();
+            edgeMeshContainer?.Dispose();
+            distanceFieldContainer?.Dispose();
+            heightFieldContainer?.Dispose();
+
+            instance = null;
+        }
+
+        private void DestroyIfUnused()
+        {
+            // when there are no data and no implementations, the world gets destroyed.
+            if (colliderHandles.Count == 0 &&
+                rigidbodyHandles.Count == 0 &&
+                forceZoneHandles.Count == 0 &&
+                materialHandles.Count == 0 &&
+                implementations.Count == 0)
+
+                Destroy();
+        }
+
+        public void RegisterImplementation(IColliderWorldImpl impl)
+        {
+            if (!implementations.Contains(impl))
+                implementations.Add(impl);
+        }
+
+        public void UnregisterImplementation(IColliderWorldImpl impl)
+        {
+            implementations.Remove(impl);
+            DestroyIfUnused();
+        }
+
+        public ObiColliderHandle CreateCollider()
+        {
+            var handle = new ObiColliderHandle();
+
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateColliderData(handle);
+            else
+                collidersToCreate.Add(handle);
+
+            return handle;
+        }
+
+        public ObiForceZoneHandle CreateForceZone()
+        {
+            var handle = new ObiForceZoneHandle();
+
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateForceZoneData(handle);
+            else
+                forceZonesToCreate.Add(handle);
+
+            return handle;
+        }
+
+        public ObiRigidbodyHandle CreateRigidbody()
+        {
+            var handle = new ObiRigidbodyHandle();
+
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateRigidbodyData(handle);
+            else
+                rigidbodiesToCreate.Add(handle);
+
+            return handle;
+        }
+
+        public ObiCollisionMaterialHandle CreateCollisionMaterial()
+        {
+            var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
+            materialHandles.Add(handle);
+
+            collisionMaterials.Add(new CollisionMaterial());
+
+            return handle;
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
+        {
+            return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
+        {
+            triangleMeshContainer.DestroyTriangleMesh(meshHandle);
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
+        {
+            return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
+        {
+            edgeMeshContainer.DestroyEdgeMesh(meshHandle);
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
+        {
+            return distanceFieldContainer.GetOrCreateDistanceField(df);
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
+        {
+            distanceFieldContainer.DestroyDistanceField(dfHandle);
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
+        {
+            return heightFieldContainer.GetOrCreateHeightField(hf);
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
+        {
+            heightFieldContainer.DestroyHeightField(hfHandle);
+        }
+
+        public void DestroyCollider(ObiColliderHandle handle)
+        {
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyColliderData(handle);
+            else
+            {
+                // In case the handle is in the creation queue, just remove it.
+                if (!collidersToCreate.Remove(handle))
+                    collidersToDestroy.Add(handle);
+            }
+        }
+
+        public void DestroyForceZone(ObiForceZoneHandle handle)
+        {
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyForceZoneData(handle);
+            else
+            {
+                // In case the handle is in the creation queue, just remove it.
+                if (!forceZonesToCreate.Remove(handle))
+                    forceZonesToDestroy.Add(handle);
+            }
+        }
+
+        public void DestroyRigidbody(ObiRigidbodyHandle handle)
+        {
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyRigidbodyData(handle);
+            else
+            {
+                // In case the handle is in the creation queue, just remove it.
+                if (!rigidbodiesToCreate.Remove(handle))
+                    rigidbodiesToDestroy.Add(handle);
+            }
+        }
+
+        public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
+        {
+            if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = materialHandles.Count - 1;
+
+                // swap all collider info:
+                materialHandles.Swap(index, lastIndex);
+                collisionMaterials.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                materialHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                materialHandles.RemoveAt(lastIndex);
+                collisionMaterials.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        private void DestroyColliderData (ObiColliderHandle handle)
+        {
+            if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = colliderHandles.Count - 1;
+
+                // swap all collider info:
+                colliderHandles.Swap(index, lastIndex);
+                colliderShapes.Swap(index, lastIndex);
+                colliderAabbs.Swap(index, lastIndex);
+                colliderTransforms.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                colliderHandles[index].index = index;
+
+                // force other colliders to update next frame, as the index of the data they reference
+                // (eg the mesh in a MeshCollider) may have changed as a result of deleting this collider's data.
+                for (int i = 0; i < colliderHandles.Count; ++i)
                    colliderHandles[i].owner.ForceUpdate();
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                colliderHandles.RemoveAt(lastIndex);
+                colliderShapes.count--;
+                colliderAabbs.count--;
+                colliderTransforms.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        private void DestroyForceZoneData(ObiForceZoneHandle handle)
+        {
+            if (forceZones != null && handle != null && handle.isValid && handle.index < forceZoneHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = forceZoneHandles.Count - 1;
+
+                // swap all force zone info:
+                forceZoneHandles.Swap(index, lastIndex);
+                forceZones.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                forceZoneHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                forceZoneHandles.RemoveAt(lastIndex);
+                forceZones.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        private void DestroyRigidbodyData(ObiRigidbodyHandle handle)
+        {
+            if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = rigidbodyHandles.Count - 1;
+
+                // swap all collider info:
+                rigidbodyHandles.Swap(index, lastIndex);
+                rigidbodies.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                rigidbodyHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                rigidbodyHandles.RemoveAt(lastIndex);
+                rigidbodies.count--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        private void CreateColliderData(ObiColliderHandle handle)
+        {
+            handle.index = colliderHandles.Count;
+            colliderHandles.Add(handle);
+            colliderShapes.Add(new ColliderShape { materialIndex = -1, rigidbodyIndex = -1, dataIndex = -1 });
+            colliderAabbs.Add(new Aabb());
+            colliderTransforms.Add(new AffineTransform());
+        }
+
+        private void CreateForceZoneData(ObiForceZoneHandle handle)
+        {
+            handle.index = forceZoneHandles.Count;
+            forceZoneHandles.Add(handle);
+            forceZones.Add(new ForceZone());
+        }
+
+        private void CreateRigidbodyData(ObiRigidbodyHandle handle)
+        {
+            handle.index = rigidbodyHandles.Count;
+            rigidbodyHandles.Add(handle);
+            rigidbodies.Add(new ColliderRigidbody());
+        }
+
+        public void FlushHandleBuffers()
+        {
+            // First process destruction, then process creation.
+            // In case we create a handle and then destroy it,
+            // we should enqueue it for destruction only if it's not in the creation queue.
+            // If it is, just remove if from the creation queue.
+
+            if (collidersToDestroy != null)
+            {
+                foreach (var handle in collidersToDestroy)
+                    DestroyColliderData(handle);
+                collidersToDestroy?.Clear();
+            }
+
+            if (forceZonesToDestroy != null)
+            {
+                foreach (var handle in forceZonesToDestroy)
+                    DestroyForceZoneData(handle);
+                forceZonesToDestroy?.Clear();
+            }
+
+            if (rigidbodiesToDestroy != null)
+            {
+                foreach (var handle in rigidbodiesToDestroy)
+                    DestroyRigidbodyData(handle);
+                rigidbodiesToDestroy?.Clear();
+            }
+
+            if (collidersToCreate != null)
+            {
+                foreach (var handle in collidersToCreate)
+                    CreateColliderData(handle);
+                collidersToCreate?.Clear();
+            }
+
+            if (forceZonesToCreate != null)
+            {
+                foreach (var handle in forceZonesToCreate)
+                    CreateForceZoneData(handle);
+                forceZonesToCreate?.Clear();
+            }
+
+            if (rigidbodiesToCreate != null)
+            {
+                foreach (var handle in rigidbodiesToCreate)
+                    CreateRigidbodyData(handle);
+                rigidbodiesToCreate?.Clear();
+            }
+          
+        }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            if (updatedThisFrame)
+                return;
+
+            updatedThisFrame = true;
+
+            // ensure all objects have valid handles.
+            // May destroy the world if it's empty,
+            // so we next check that handle/implementations are not null.
+            FlushHandleBuffers();
+
+            // update all colliders:
+            if (colliderHandles != null)
+                for (int i = 0; i < colliderHandles.Count; ++i)
+                    colliderHandles[i].owner.UpdateIfNeeded();
+
+            // update all force zones:
+            if (forceZoneHandles != null)
+                for (int i = 0; i < forceZoneHandles.Count; ++i)
+                    forceZoneHandles[i].owner.UpdateIfNeeded();
+
+            // update rigidbodies:
+            if (rigidbodyHandles != null)
+                for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                    rigidbodyHandles[i].owner.UpdateIfNeeded(deltaTime);
+
+            // update implementations:
+            if (implementations != null)
+                for (int i = 0; i < implementations.Count; ++i)
+                {
+                    if (implementations[i].referenceCount > 0)
+                    {
+                        // set arrays:
+                        implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
+                        implementations[i].SetForceZones(forceZones);
+                        implementations[i].SetRigidbodies(rigidbodies);
+                        implementations[i].SetCollisionMaterials(collisionMaterials);
+                        implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
+                        implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
+                        implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
+                        implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
+
+                        // update world implementation:
+                        implementations[i].UpdateWorld(deltaTime);
+                    }
+                }
+        }
+
+        public void FrameStart()
+        {
+            updatedThisFrame = false;
+        }
+
+        public void UpdateCollisionMaterials()
+        {
+            if (implementations != null)
+                for (int i = 0; i < implementations.Count; ++i)
+                {
+                    if (implementations[i].referenceCount > 0)
+                    {
+                        implementations[i].SetCollisionMaterials(collisionMaterials);
+                    }
+                }
+        }
+
+        public void UpdateRigidbodyVelocities(ObiSolver solver)
+        {
+            if (solver != null && solver.initialized)
+            {
+                int count = Mathf.Min(rigidbodyHandles.Count, solver.rigidbodyLinearDeltas.count);
+
+                for (int i = 0; i < count; ++i)
+                    rigidbodyHandles[i].owner.UpdateVelocities(solver.rigidbodyLinearDeltas[i], solver.rigidbodyAngularDeltas[i]);
+            }
+
+            solver.rigidbodyLinearDeltas.WipeToZero();
+            solver.rigidbodyAngularDeltas.WipeToZero();
+            solver.rigidbodyLinearDeltas.Upload();
+            solver.rigidbodyAngularDeltas.Upload();
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta
new file mode 100644
index 00000000..e2753233
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 72e79cbbc15cc42e1b3e0db8936d18a5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig
new file mode 100644
index 00000000..46d5419e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig
@@ -0,0 +1,452 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    public class ObiResourceHandle<T> where T : class
+    {
+        public T owner = null;               /**< reference to the owner instance*/
+        public int index = -1;               /**< index of this resource in the collision world.*/
+        private int referenceCount = 0;      /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
+
+        public bool isValid
+        {
+            get { return index >= 0; }
+        }
+
+        public void Invalidate()
+        {
+            index = -1;
+            referenceCount = 0;
+        }
+
+        public void Reference()
+        {
+            referenceCount++;
+        }
+
+        public bool Dereference()
+        {
+            return --referenceCount == 0;
+        }
+
+        public ObiResourceHandle(int index = -1)
+        {
+            this.index = index;
+            owner = null;
+        }
+    }
+
+    public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
+    {
+        public ObiColliderHandle(int index = -1) : base(index) { }
+    }
+    public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
+    {
+        public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
+    }
+    public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
+    {
+        public ObiRigidbodyHandle(int index = -1) : base(index) { }
+    }
+
+    [ExecuteInEditMode]
+    public class ObiColliderWorld
+    {
+        [NonSerialized] public List<IColliderWorldImpl> implementations;
+
+        [NonSerialized] public List<ObiColliderHandle> colliderHandles;           // list of collider handles, used by ObiCollider components to retrieve them.
+        [NonSerialized] public ObiNativeColliderShapeList colliderShapes;         // list of collider shapes.
+        [NonSerialized] public ObiNativeAabbList colliderAabbs;                   // list of collider bounds.
+        [NonSerialized] public ObiNativeAffineTransformList colliderTransforms;   // list of collider transforms.
+
+        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
+        [NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
+
+        [NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles;         // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
+        [NonSerialized] public ObiNativeRigidbodyList rigidbodies;                // list of rigidbodies.
+
+        [NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
+        [NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
+        [NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
+        [NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
+
+        private static ObiColliderWorld instance;
+
+        public static ObiColliderWorld GetInstance()
+        {
+            if (instance == null)
+            {
+                instance = new ObiColliderWorld();
+                instance.Initialize();
+            }
+            return instance;
+        }
+
+        private void Initialize()
+        {
+            // Allocate all lists:
+            if (implementations == null)
+                implementations = new List<IColliderWorldImpl>();
+
+            if (colliderHandles == null)
+                colliderHandles = new List<ObiColliderHandle>();
+            if (colliderShapes == null)
+                colliderShapes = new ObiNativeColliderShapeList();
+            if (colliderAabbs == null)
+                colliderAabbs = new ObiNativeAabbList();
+            if (colliderTransforms == null)
+                colliderTransforms = new ObiNativeAffineTransformList();
+
+            if (materialHandles == null)
+                materialHandles = new List<ObiCollisionMaterialHandle>();
+            if (collisionMaterials == null)
+                collisionMaterials = new ObiNativeCollisionMaterialList();
+
+            if (rigidbodyHandles == null)
+                rigidbodyHandles = new List<ObiRigidbodyHandle>();
+            if (rigidbodies == null)
+                rigidbodies = new ObiNativeRigidbodyList();
+
+            if (triangleMeshContainer == null)
+                triangleMeshContainer = new ObiTriangleMeshContainer();
+            if (edgeMeshContainer == null)
+                edgeMeshContainer = new ObiEdgeMeshContainer();
+            if (distanceFieldContainer == null)
+                distanceFieldContainer = new ObiDistanceFieldContainer();
+            if (heightFieldContainer == null)
+                heightFieldContainer = new ObiHeightFieldContainer();
+        }
+
+        private void Destroy()
+        {
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
+                implementations[i].UpdateWorld(0);
+            }
+
+            // Invalidate all handles:
+            if (colliderHandles != null)
+                foreach (var handle in colliderHandles)
+                    handle.Invalidate();
+
+            if (rigidbodyHandles != null)
+                foreach (var handle in rigidbodyHandles)
+                    handle.Invalidate();
+
+            if (materialHandles != null)
+                foreach (var handle in materialHandles)
+                    handle.Invalidate();
+
+            // Dispose of all lists:
+            implementations = null;
+            colliderHandles = null;
+            rigidbodyHandles = null;
+            materialHandles = null;
+
+            if (colliderShapes != null)
+                colliderShapes.Dispose();
+            if (colliderAabbs != null)
+                colliderAabbs.Dispose();
+            if (colliderTransforms != null)
+                colliderTransforms.Dispose();
+
+            if (collisionMaterials != null)
+                collisionMaterials.Dispose();
+
+            if (rigidbodies != null)
+                rigidbodies.Dispose();
+
+            if (triangleMeshContainer != null)
+                triangleMeshContainer.Dispose();
+            if (edgeMeshContainer != null)
+                edgeMeshContainer.Dispose();
+            if (distanceFieldContainer != null)
+                distanceFieldContainer.Dispose();
+            if (heightFieldContainer != null)
+                heightFieldContainer.Dispose();
+
+            instance = null;
+        }
+
+        private void DestroyIfUnused()
+        {
+            // when there are no implementations and no colliders, the world gets destroyed.
+            if (colliderHandles.Count == 0 && rigidbodyHandles.Count == 0 && materialHandles.Count == 0 && implementations.Count == 0)
+                Destroy();
+        }
+
+        public void RegisterImplementation(IColliderWorldImpl impl)
+        {
+            if (!implementations.Contains(impl))
+                implementations.Add(impl);
+        }
+
+        public void UnregisterImplementation(IColliderWorldImpl impl)
+        {
+            implementations.Remove(impl);
+            DestroyIfUnused();
+        }
+
+        public ObiColliderHandle CreateCollider()
+        {
+            var handle = new ObiColliderHandle(colliderHandles.Count);
+            colliderHandles.Add(handle);
+
+            colliderShapes.Add(new ColliderShape());
+            colliderAabbs.Add(new Aabb());
+            colliderTransforms.Add(new AffineTransform());
+
+            return handle;
+        }
+
+        public ObiRigidbodyHandle CreateRigidbody()
+        {
+            var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
+            rigidbodyHandles.Add(handle);
+
+            rigidbodies.Add(new ColliderRigidbody());
+
+            return handle;
+        }
+
+        public ObiCollisionMaterialHandle CreateCollisionMaterial()
+        {
+            var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
+            materialHandles.Add(handle);
+
+            collisionMaterials.Add(new CollisionMaterial());
+
+            return handle;
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
+        {
+            return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
+        {
+            triangleMeshContainer.DestroyTriangleMesh(meshHandle);
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
+        {
+            return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
+        {
+            edgeMeshContainer.DestroyEdgeMesh(meshHandle);
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
+        {
+            return distanceFieldContainer.GetOrCreateDistanceField(df);
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
+        {
+            distanceFieldContainer.DestroyDistanceField(dfHandle);
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
+        {
+            return heightFieldContainer.GetOrCreateHeightField(hf);
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
+        {
+            heightFieldContainer.DestroyHeightField(hfHandle);
+        }
+
+        public void DestroyCollider(ObiColliderHandle handle)
+        {
+            if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = colliderHandles.Count - 1;
+
+                // swap all collider info:
+                colliderHandles.Swap(index, lastIndex);
+                colliderShapes.Swap(index, lastIndex);
+                colliderAabbs.Swap(index, lastIndex);
+                colliderTransforms.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                colliderHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                colliderHandles.RemoveAt(lastIndex);
+                colliderShapes.count--;
+                colliderAabbs.count--;
+                colliderTransforms.count--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        public void DestroyRigidbody(ObiRigidbodyHandle handle)
+        {
+            if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = rigidbodyHandles.Count - 1;
+
+                // swap all collider info:
+                rigidbodyHandles.Swap(index, lastIndex);
+                rigidbodies.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                rigidbodyHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                rigidbodyHandles.RemoveAt(lastIndex);
+                rigidbodies.count--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
+        {
+            if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = materialHandles.Count - 1;
+
+                // swap all collider info:
+                materialHandles.Swap(index, lastIndex);
+                collisionMaterials.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                materialHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                materialHandles.RemoveAt(lastIndex);
+                collisionMaterials.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        public void UpdateColliders()
+        {
+            // update all colliders:
+            for (int i = 0; i < colliderHandles.Count; ++i)
+                colliderHandles[i].owner.UpdateIfNeeded();
+<<<<<<< HEAD
+=======
+
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                if (implementations[i].referenceCount > 0)
+                {
+                    // set arrays:
+                    implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
+                    implementations[i].SetRigidbodies(rigidbodies);
+                    implementations[i].SetCollisionMaterials(collisionMaterials);
+                    implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
+                    implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
+                    implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
+                    implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
+
+                    // update world implementation:
+                    implementations[i].UpdateWorld();
+                }
+            }
+>>>>>>> 56Hotfix
+        }
+
+        public void UpdateRigidbodies(List<ObiSolver> solvers, float stepTime)
+        {
+            // reset all solver's delta buffers to zero:
+            foreach (ObiSolver solver in solvers)
+            {
+                if (solver != null)
+                {
+                    solver.EnsureRigidbodyArraysCapacity(rigidbodyHandles.Count);
+                    solver.rigidbodyLinearDeltas.WipeToZero();
+                    solver.rigidbodyAngularDeltas.WipeToZero();
+                }
+            }
+
+            for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                rigidbodyHandles[i].owner.UpdateIfNeeded(stepTime);
+        }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                // set arrays:
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
+                implementations[i].SetRigidbodies(rigidbodies);
+                implementations[i].SetCollisionMaterials(collisionMaterials);
+                implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
+                implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
+                implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
+                implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
+
+                // update world implementation:
+                implementations[i].UpdateWorld(deltaTime);
+            }
+        }
+
+        public void UpdateRigidbodyVelocities(List<ObiSolver> solvers)
+        {
+            int count = 0;
+            foreach (ObiSolver solver in solvers)
+                if (solver != null) count++;
+
+            if (count > 0)
+            {
+                // we want to average the deltas applied by all solvers, so calculate 1/solverCount.
+                float rcpCount = 1.0f / count;
+
+                for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                {
+                    Vector4 linearDelta = Vector4.zero;
+                    Vector4 angularDelta = Vector4.zero;
+
+                    foreach (ObiSolver solver in solvers)
+                    {
+                        if (solver != null)
+                        {
+                            linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
+                            angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
+                        }
+                    }
+
+                    // update rigidbody velocities
+                    rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
+                }
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta
new file mode 100644
index 00000000..e1c169cd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 663bb98786e3a46a3b909fa8d01073f2
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
new file mode 100644
index 00000000..97940be2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
@@ -0,0 +1,80 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+    /**
+     * Holds information about the physics properties of a particle or collider, and how it should react to collisions.
+     */
+    [CreateAssetMenu(fileName = "collision material", menuName = "Obi/Collision Material", order = 180)]
+    public class ObiCollisionMaterial : ScriptableObject
+    {
+        protected ObiCollisionMaterialHandle materialHandle;
+
+	    public float dynamicFriction;
+	    public float staticFriction;
+	    public float stickiness;
+	    public float stickDistance;
+	
+	    public Oni.MaterialCombineMode frictionCombine;
+	    public Oni.MaterialCombineMode stickinessCombine;
+
+	    [Space]
+	    public bool rollingContacts = false;
+
+	    [Indent()]
+	    [VisibleIf("rollingContacts")]
+	    public float rollingFriction;
+
+        public ObiCollisionMaterialHandle handle
+        {
+            get
+            {
+                CreateMaterialIfNeeded();
+                return materialHandle;
+            }
+        }
+
+        private void OnEnable()
+        {
+            UpdateMaterial();
+        }
+
+        private void OnDisable()
+        {
+            ObiColliderWorld.GetInstance().DestroyCollisionMaterial(materialHandle);
+        }
+
+        private void OnValidate()
+        {
+            // we can't create GameObjects in OnValidate(), so make sure the colliderworld already exists.
+            UpdateMaterial();
+        }
+
+        public void UpdateMaterial()
+        {
+            var world = ObiColliderWorld.GetInstance();
+            var mat = world.collisionMaterials[handle.index];
+            mat.FromObiCollisionMaterial(this);
+            world.collisionMaterials[handle.index] = mat;
+        }
+
+        protected void CreateMaterialIfNeeded()
+        {
+            if (materialHandle == null || !materialHandle.isValid)
+            {
+                var world = ObiColliderWorld.GetInstance();
+
+                // create the material:
+                materialHandle = world.CreateCollisionMaterial();
+                materialHandle.owner = this;
+
+                // copy material data from this material (use materialHandle instead of handle, to not retrigger CreateMaterialIfNeeded)
+                var mat = world.collisionMaterials[materialHandle.index];
+                mat.FromObiCollisionMaterial(this);
+                world.collisionMaterials[materialHandle.index] = mat;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta
new file mode 100644
index 00000000..bf25cb7d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5b9c84cdb747944209b1c8753933c5db
+timeCreated: 1483360014
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: e101664ae1c454916896aaaa3199221c, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs
new file mode 100644
index 00000000..3e5e315c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs
@@ -0,0 +1,129 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+
+    [CreateAssetMenu(fileName = "distance field", menuName = "Obi/Distance Field", order = 181)]
+	[ExecuteInEditMode]	
+	public class ObiDistanceField : ScriptableObject
+	{
+		[SerializeProperty("InputMesh")]
+		[SerializeField] private Mesh input = null;
+
+		[HideInInspector][SerializeField] private float minNodeSize = 0;
+		[HideInInspector][SerializeField] private Bounds bounds = new Bounds(); 
+		[HideInInspector] public List<DFNode> nodes;		/**< list of distance field nodes*/
+
+		[Range(0.0000001f,0.1f)]
+		public float maxError = 0.01f;
+
+		[Range(1, 8)]
+		public int maxDepth = 5;
+
+		public bool Initialized{
+			get{return nodes != null;}
+		}
+
+		public Bounds FieldBounds {
+			get{return bounds;}
+		}
+
+		public float EffectiveSampleSize {
+			get{return minNodeSize;}
+		}
+
+		public Mesh InputMesh{
+			set{
+				if (value != input){
+					Reset();
+					input = value;
+				}
+			}
+			get{return input;}
+		}
+
+		public void Reset(){
+			nodes = null;
+			if (input != null)
+				bounds = input.bounds;
+		}
+
+		public IEnumerator Generate(){
+
+			Reset();
+
+			if (input == null)
+				yield break;
+
+            int[] tris = input.triangles;
+            Vector3[] verts = input.vertices;
+
+            nodes = new List<DFNode>();
+            var buildingCoroutine = ASDF.Build(maxError, maxDepth, verts, tris, nodes);
+
+            while (buildingCoroutine.MoveNext())
+                yield return new CoroutineJob.ProgressInfo("Processed nodes: " + nodes.Count, 1);
+
+            // calculate min node size;
+            minNodeSize = float.PositiveInfinity;
+            for (int j = 0; j < nodes.Count; ++j)
+                minNodeSize = Mathf.Min(minNodeSize, nodes[j].center[3] * 2);
+
+            // get bounds:
+            float max = Mathf.Max(bounds.size[0], Mathf.Max(bounds.size[1], bounds.size[2])) + 0.2f;
+            bounds.size = new Vector3(max, max, max);
+
+        }
+
+		/**
+		 * Return a volume texture containing a representation of this distance field.
+		 */
+		public Texture3D GetVolumeTexture(int size){
+
+			if (!Initialized)
+				return null;
+	
+			// upper bound of the distance from any point inside the bounds to the surface.
+			float maxDist = Mathf.Max(bounds.size.x,bounds.size.y,bounds.size.z);				
+	
+			float spacingX = bounds.size.x / (float)size;
+			float spacingY = bounds.size.y / (float)size;
+			float spacingZ = bounds.size.z / (float)size;
+	
+			Texture3D tex = new Texture3D (size, size, size, TextureFormat.Alpha8, false);
+	
+			var cols = new Color[size*size*size];
+			int idx = 0;
+			Color c = Color.black;
+	
+			for (int z = 0; z < size; ++z)
+			{
+				for (int y = 0; y < size; ++y)
+				{
+					for (int x = 0; x < size; ++x, ++idx)
+					{
+						Vector3 samplePoint = bounds.min + new Vector3(spacingX * x + spacingX*0.5f,
+						                                 			   spacingY * y + spacingY*0.5f,
+						                                  			   spacingZ * z + spacingZ*0.5f);
+
+                        float distance = ASDF.Sample(nodes,samplePoint);
+	
+						if (distance >= 0)
+							c.a = distance.Remap(0,maxDist*0.1f,0.5f,1);
+						else 
+							c.a = distance.Remap(-maxDist*0.1f,0,0,0.5f);
+	
+						cols[idx] = c;
+					}
+				}
+			}
+			tex.SetPixels (cols);
+			tex.Apply ();
+			return tex;
+	
+		}
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta
new file mode 100644
index 00000000..9f068150
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d31207380edf34b1b84ce50af22f2356
+timeCreated: 1516041748
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: a83ed40096e3a40efa85f35b091e6298, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs
new file mode 100644
index 00000000..9d6fde09
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs
@@ -0,0 +1,103 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ObiDistanceFieldHandle : ObiResourceHandle<ObiDistanceField>
+    {
+        public ObiDistanceFieldHandle(ObiDistanceField field, int index = -1) : base(index) { owner = field; }
+    }
+
+    public struct DistanceFieldHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstNode;
+        public int nodeCount;
+  
+        public DistanceFieldHeader(int firstNode, int nodeCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+        }
+    }
+
+    public class ObiDistanceFieldContainer
+    {
+        public Dictionary<ObiDistanceField, ObiDistanceFieldHandle> handles;  /**< dictionary indexed by asset, so that we don't generate data for the same distance field multiple times.*/
+
+        public ObiNativeDistanceFieldHeaderList headers; /**< One header per distance field.*/
+        public ObiNativeDFNodeList dfNodes;
+
+        public ObiDistanceFieldContainer()
+        {
+            handles = new Dictionary<ObiDistanceField, ObiDistanceFieldHandle>();
+            headers = new ObiNativeDistanceFieldHeaderList();
+            dfNodes = new ObiNativeDFNodeList();
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField source)
+        {
+            ObiDistanceFieldHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+
+                handle = new ObiDistanceFieldHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new DistanceFieldHeader(dfNodes.count, source.nodes.Count));
+
+                dfNodes.AddRange(source.nodes);
+            }
+
+            return handle;
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstNode > header.firstNode)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes
+                dfNodes.RemoveRange(header.firstNode, header.nodeCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the mesh from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (dfNodes != null)
+                dfNodes.Dispose();
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta
new file mode 100644
index 00000000..6d49dbfd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e8fb69dfa0ce5432d83da86e05e31e12
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs
new file mode 100644
index 00000000..d4bc3e7e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs
@@ -0,0 +1,163 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Edge : IBounded
+    {
+        public int i1;
+        public int i2;
+
+        Aabb b;
+
+        public Edge(int i1, int i2, Vector2 v1, Vector2 v2)
+        {
+            this.i1 = i1;
+            this.i2 = i2;
+            b = new Aabb(v1);
+            b.Encapsulate(v2);
+        }
+
+        public Aabb GetBounds()
+        {
+            return b;
+        }
+    }
+
+    public class ObiEdgeMeshHandle : ObiResourceHandle<EdgeCollider2D>
+    {
+        public ObiEdgeMeshHandle(EdgeCollider2D collider, int index = -1) : base(index) { owner = collider; }
+    }
+
+    public struct EdgeMeshHeader
+    {
+        public int firstNode;
+        public int nodeCount;
+        public int firstEdge;
+        public int edgeCount;
+        public int firstVertex;
+        public int vertexCount;
+
+        public EdgeMeshHeader(int firstNode, int nodeCount, int firstTriangle, int triangleCount, int firstVertex, int vertexCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+            this.firstEdge = firstTriangle;
+            this.edgeCount = triangleCount;
+            this.firstVertex = firstVertex;
+            this.vertexCount = vertexCount;
+        }
+    }
+
+    public class ObiEdgeMeshContainer
+    {
+        public Dictionary<EdgeCollider2D, ObiEdgeMeshHandle> handles;  /**< dictionary indexed by mesh, so that we don't generate data for the same mesh multiple times.*/
+
+        public ObiNativeEdgeMeshHeaderList headers;
+        public ObiNativeBIHNodeList bihNodes;
+        public ObiNativeEdgeList edges;
+        public ObiNativeVector2List vertices;
+
+        public ObiEdgeMeshContainer()
+        {
+            handles = new Dictionary<EdgeCollider2D, ObiEdgeMeshHandle>();
+            headers = new ObiNativeEdgeMeshHeaderList();
+            bihNodes = new ObiNativeBIHNodeList();
+            edges = new ObiNativeEdgeList();
+            vertices = new ObiNativeVector2List();
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D source)
+        {
+            ObiEdgeMeshHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+                Vector2[] sourceVertices = source.points;
+                int[] sourceEdges = new int[source.edgeCount * 2];
+
+                for (int i = 0; i < source.edgeCount; ++i)
+                {
+                    sourceEdges[i * 2] = i;
+                    sourceEdges[i * 2 + 1] = i + 1;
+                }
+
+                // Build a bounding interval hierarchy from the edges:
+                IBounded[] t = new IBounded[source.edgeCount];
+                for (int i = 0; i < source.edgeCount; ++i)
+                {
+                    t[i] = new Edge(i, i+1, sourceVertices[i], sourceVertices[i+1]);
+                }
+                var sourceBih = BIH.Build(ref t);
+
+                Edge[] edgs = Array.ConvertAll(t, x => (Edge)x);
+
+                handle = new ObiEdgeMeshHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new EdgeMeshHeader(bihNodes.count, sourceBih.Length, edges.count, edgs.Length, vertices.count, sourceVertices.Length));
+
+                bihNodes.AddRange(sourceBih);
+                edges.AddRange(edgs);
+                vertices.AddRange(sourceVertices);
+            }
+
+            return handle;
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstEdge > header.firstEdge)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        h.firstEdge -= header.edgeCount;
+                        h.firstVertex -= header.vertexCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes, triangles and vertices
+                bihNodes.RemoveRange(header.firstNode, header.nodeCount);
+                edges.RemoveRange(header.firstEdge, header.edgeCount);
+                vertices.RemoveRange(header.firstVertex, header.vertexCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the collider from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (edges != null)
+                edges.Dispose();
+            if (vertices != null)
+                vertices.Dispose();
+            if (bihNodes != null)
+                bihNodes.Dispose();
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta
new file mode 100644
index 00000000..8e1c4df1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 26d97a1797c5d43a69fc77f77c37a3b6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs
new file mode 100644
index 00000000..75131e75
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs
@@ -0,0 +1,114 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiHeightFieldHandle : ObiResourceHandle<TerrainData>
+    {
+        public ObiHeightFieldHandle(TerrainData data, int index = -1) : base(index) { owner = data; }
+    }
+
+    public struct HeightFieldHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstSample;
+        public int sampleCount;
+
+        public HeightFieldHeader(int firstSample, int sampleCount)
+        {
+            this.firstSample = firstSample;
+            this.sampleCount = sampleCount;
+        }
+    }
+
+    public class ObiHeightFieldContainer
+    {
+        public Dictionary<TerrainData, ObiHeightFieldHandle> handles;  /**< dictionary indexed by asset, so that we don't generate data for the same distance field multiple times.*/
+
+        public ObiNativeHeightFieldHeaderList headers; /**< One header per distance field.*/
+        public ObiNativeFloatList samples;
+
+        public ObiHeightFieldContainer()
+        {
+            handles = new Dictionary<TerrainData, ObiHeightFieldHandle>();
+            headers = new ObiNativeHeightFieldHeaderList();
+            samples = new ObiNativeFloatList();
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData source)
+        {
+            ObiHeightFieldHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+                // Get the heighfield into a 1d array:
+                int width = source.heightmapResolution;
+                int height = source.heightmapResolution;
+
+                float[,] heights = source.GetHeights(0, 0, width, height);
+                bool[,] holes = source.GetHoles(0, 0, width-1, height-1);
+
+                float[] buffer = new float[width * height];
+
+                for (int y = 0; y < height; ++y)
+                    for (int x = 0; x < width; ++x)
+                        buffer[y * width + x] = heights[y, x] * (holes[Mathf.Min(y,height - 2), Mathf.Min(x, width - 2)] ? 1:-1);
+
+                handle = new ObiHeightFieldHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new HeightFieldHeader(samples.count, buffer.Length));
+
+                samples.AddRange(buffer);
+            }
+
+            return handle;
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstSample > header.firstSample)
+                    {
+                        h.firstSample -= header.sampleCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes
+                samples.RemoveRange(header.firstSample, header.sampleCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the heightfield from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (samples != null)
+                samples.Dispose();
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta
new file mode 100644
index 00000000..4a72e5c5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta
@@ -0,0 +1,11 @@
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+guid: 144f4377b36f741b3af30c9ff572733f
+MonoImporter:
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+  serializedVersion: 2
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
new file mode 100644
index 00000000..d66ab8c0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
@@ -0,0 +1,101 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+	/**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+	[ExecuteInEditMode]
+	[RequireComponent(typeof(Rigidbody))]
+	public class ObiRigidbody : ObiRigidbodyBase
+	{
+        public Rigidbody unityRigidbody { get; private set; }
+
+        public Vector3 position => unityRigidbody.position;
+        public Quaternion rotation => unityRigidbody.rotation;
+
+        public Vector3 linearVelocity { get; protected set; }
+        public Vector3 angularVelocity { get; protected set; }
+
+        private Quaternion prevRotation;
+        private Vector3 prevPosition;
+
+        protected override void OnEnable()
+        {
+			unityRigidbody = GetComponent<Rigidbody>();
+            ResetPosition();
+            base.OnEnable();
+		}
+
+        public void ResetPosition()
+        {
+            prevPosition = unityRigidbody.position;
+            prevRotation = unityRigidbody.rotation;
+            linearVelocity = unityRigidbody.velocity;
+            angularVelocity = unityRigidbody.angularVelocity;
+        }
+
+        private void CacheVelocities(float stepTime)
+        {
+            // differentiate positions/orientations to get our own velocites for kinematic objects.
+            // also useful for animations.
+            if (unityRigidbody.isKinematic && stepTime > 0)
+            {
+                // differentiate positions to obtain linear velocity:
+                linearVelocity = (unityRigidbody.position - prevPosition) / stepTime;
+
+                // differentiate rotations to obtain angular velocity:
+                Quaternion delta = unityRigidbody.rotation * Quaternion.Inverse(prevRotation);
+                angularVelocity = new Vector3(delta.x, delta.y, delta.z) * 2.0f / stepTime;
+            }
+            else
+            {
+                // if the object is non-kinematic, just copy velocities.
+                linearVelocity = unityRigidbody.velocity;
+                angularVelocity = unityRigidbody.angularVelocity;
+            }
+
+            prevPosition = unityRigidbody.position;
+            prevRotation = unityRigidbody.rotation;
+        }
+
+		public override void UpdateIfNeeded(float stepTime)
+        {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
+
+            CacheVelocities(stepTime);
+            var world = ObiColliderWorld.GetInstance();
+
+            var rb = world.rigidbodies[handle.index];
+            rb.FromRigidbody(this);
+            world.rigidbodies[handle.index] = rb;
+        }
+
+		/**
+		 * Reads velocities back from the solver.
+		 */
+		public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+        {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
+            // kinematic rigidbodies are passed to Obi with zero velocity, so we must ignore the new velocities calculated by the solver:
+            if (Application.isPlaying && !(unityRigidbody.isKinematic || kinematicForParticles))
+            {
+                if (Vector3.SqrMagnitude(linearDelta) > 0.00001f || Vector3.SqrMagnitude(angularDelta) > 0.00001f)
+                {
+                    unityRigidbody.velocity += linearDelta;
+                    unityRigidbody.angularVelocity += angularDelta;
+                }
+            }
+        }
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta
new file mode 100644
index 00000000..7a15a80f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1502137073
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 1788ce7c914374d949486d9789c9f306, type: 3}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
new file mode 100644
index 00000000..4c5feec7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
@@ -0,0 +1,98 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+	/**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+	[ExecuteInEditMode]
+	[RequireComponent(typeof(Rigidbody2D))]
+	public class ObiRigidbody2D : ObiRigidbodyBase
+	{
+        public Rigidbody2D unityRigidbody { get; private set; }
+
+        public Vector2 position => unityRigidbody.position;
+        public float rotation => unityRigidbody.rotation;
+
+        public Vector2 linearVelocity { get; protected set; }
+        public float angularVelocity { get; protected set; }
+
+        private Quaternion prevRotation;
+        private Vector3 prevPosition;
+
+        protected override void OnEnable()
+        {
+            unityRigidbody = GetComponent<Rigidbody2D>();
+            ResetPosition();
+            base.OnEnable();
+        }
+
+        public void ResetPosition()
+        {
+            prevPosition = unityRigidbody.position;
+            prevRotation = Quaternion.AngleAxis(unityRigidbody.rotation, Vector3.forward);
+            linearVelocity = unityRigidbody.velocity;
+            angularVelocity = unityRigidbody.angularVelocity;
+        }
+
+        private void CacheVelocities(float stepTime)
+        {
+            // differentiate positions/orientations to get our own velocites for kinematic objects.
+            // when calling Physics.Simulate, MovePosition/Rotation do not work correctly. Also useful for animations.
+            if (unityRigidbody.isKinematic && stepTime > 0)
+            {
+                // differentiate positions to obtain linear velocity:
+                linearVelocity = (transform.position - prevPosition) / stepTime;
+
+                // differentiate rotations to obtain angular velocity:
+                Quaternion delta = transform.rotation * Quaternion.Inverse(prevRotation);
+                angularVelocity = delta.z * Mathf.Rad2Deg * 2.0f / stepTime;
+            }
+            else
+            {
+                // if the object is non-kinematic, just copy velocities.
+                linearVelocity = unityRigidbody.velocity;
+                angularVelocity = unityRigidbody.angularVelocity;
+            }
+
+            prevPosition = transform.position;
+            prevRotation = transform.rotation;
+        }
+
+        public override void UpdateIfNeeded(float stepTime)
+        {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
+            CacheVelocities(stepTime);
+            var world = ObiColliderWorld.GetInstance();
+
+            var rb = world.rigidbodies[handle.index];
+            rb.FromRigidbody(this);
+            world.rigidbodies[handle.index] = rb;
+        }
+
+		/**
+		 * Reads velocities back from the solver.
+		 */
+		public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+        {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
+            // kinematic rigidbodies are passed to Obi with zero velocity, so we must ignore the new velocities calculated by the solver:
+            if (Application.isPlaying && !(unityRigidbody.isKinematic || kinematicForParticles))
+            {
+				unityRigidbody.velocity += new Vector2(linearDelta.x, linearDelta.y);
+				unityRigidbody.angularVelocity += angularDelta[2] * Mathf.Rad2Deg;
+			}
+
+		}
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta
new file mode 100644
index 00000000..8b4dbc1d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta
@@ -0,0 +1,12 @@
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+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 21e01eb398ab24a7abb1f3b493af6b20, type: 3}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
new file mode 100644
index 00000000..55c5d15d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+    /**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+    [ExecuteInEditMode]
+    public abstract class ObiRigidbodyBase : MonoBehaviour
+    {
+
+        public bool kinematicForParticles = false;
+
+        protected ObiRigidbodyHandle rigidbodyHandle;
+        public ObiRigidbodyHandle handle
+        {
+            get
+            {
+                if (rigidbodyHandle == null || !rigidbodyHandle.isValid)
+                {
+                    var world = ObiColliderWorld.GetInstance();
+
+                    // create the material:
+                    rigidbodyHandle = world.CreateRigidbody();
+                    rigidbodyHandle.owner = this;
+                }
+                return rigidbodyHandle;
+            }
+        }
+
+        protected virtual void OnEnable()
+        {
+            //handle = ObiColliderWorld.GetInstance().CreateRigidbody();
+            //handle.owner = this;
+        }
+
+		public void OnDisable()
+        {
+            ObiColliderWorld.GetInstance().DestroyRigidbody(handle);
+        }
+
+		public abstract void UpdateIfNeeded(float stepTime);
+
+		/**
+		 * Reads velocities back from the solver.
+		 */
+		public abstract void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta);
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta
new file mode 100644
index 00000000..0e3cab7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta
@@ -0,0 +1,12 @@
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+guid: 8f0adb129c9cf4d978dc5964711503b8
+timeCreated: 1516131526
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
new file mode 100644
index 00000000..3858bc69
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
@@ -0,0 +1,171 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Triangle : IBounded
+    {
+        public int i1;
+        public int i2;
+        public int i3;
+
+        Aabb b;
+
+        public Triangle(int i1, int i2, int i3, Vector3 v1, Vector3 v2, Vector3 v3)
+        {
+            this.i1 = i1;
+            this.i2 = i2;
+            this.i3 = i3;
+            b = new Aabb(v1);
+            b.Encapsulate(v2);
+            b.Encapsulate(v3);
+        }
+
+        public Aabb GetBounds()
+        {
+            return b;
+        }
+    }
+
+    public class ObiTriangleMeshHandle : ObiResourceHandle<Mesh>
+    {
+        public ObiTriangleMeshHandle(Mesh mesh, int index = -1) : base(index) { owner = mesh; }
+    }
+
+    public struct TriangleMeshHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstNode;
+        public int nodeCount;
+        public int firstTriangle;
+        public int triangleCount;
+        public int firstVertex;
+        public int vertexCount;
+
+        public TriangleMeshHeader(int firstNode, int nodeCount, int firstTriangle, int triangleCount, int firstVertex, int vertexCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+            this.firstTriangle = firstTriangle;
+            this.triangleCount = triangleCount;
+            this.firstVertex = firstVertex;
+            this.vertexCount = vertexCount;
+        }
+    }
+
+    public class ObiTriangleMeshContainer
+    {
+        public Dictionary<Mesh,ObiTriangleMeshHandle> handles;  /**< dictionary indexed by mesh, so that we don't generate data for the same mesh multiple times.*/
+
+        public ObiNativeTriangleMeshHeaderList headers; /**< One header per mesh.*/
+        public ObiNativeBIHNodeList bihNodes;
+        public ObiNativeTriangleList triangles;
+        public ObiNativeVector3List vertices;
+
+        public ObiTriangleMeshContainer()
+        {
+            handles = new Dictionary<Mesh, ObiTriangleMeshHandle>();
+            headers = new ObiNativeTriangleMeshHeaderList();
+            bihNodes = new ObiNativeBIHNodeList();
+            triangles = new ObiNativeTriangleList();
+            vertices = new ObiNativeVector3List();
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh source)
+        {
+            ObiTriangleMeshHandle handle = new ObiTriangleMeshHandle(null);
+
+            if (source != null && !handles.TryGetValue(source, out handle))
+            {
+                if (source.isReadable)
+                {
+                    var sourceTris = source.triangles;
+                    var sourceVertices = source.vertices;
+
+                    // Build a bounding interval hierarchy from the triangles:
+                    IBounded[] t = new IBounded[sourceTris.Length / 3];
+                    for (int i = 0; i < t.Length; ++i)
+                    {
+                        int t1 = sourceTris[i * 3];
+                        int t2 = sourceTris[i * 3 + 1];
+                        int t3 = sourceTris[i * 3 + 2];
+                        t[i] = new Triangle(t1, t2, t3, sourceVertices[t1], sourceVertices[t2], sourceVertices[t3]);
+                    }
+                    var sourceBih = BIH.Build(ref t);
+
+                    Triangle[] tris = Array.ConvertAll(t, x => (Triangle)x);
+
+                    handle = new ObiTriangleMeshHandle(source, headers.count);
+                    handles.Add(source, handle);
+
+                    headers.Add(new TriangleMeshHeader(bihNodes.count, sourceBih.Length, triangles.count, tris.Length, vertices.count, sourceVertices.Length));
+                    bihNodes.AddRange(sourceBih);
+                    triangles.AddRange(tris);
+                    vertices.AddRange(sourceVertices);
+                }
+                else
+                {
+                    handle = new ObiTriangleMeshHandle(source);
+                    handles.Add(source, handle);
+                }
+            }
+
+            return handle;
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstTriangle > header.firstTriangle)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        h.firstTriangle -= header.triangleCount;
+                        h.firstVertex -= header.vertexCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index --;
+                }
+
+                // Remove nodes, triangles and vertices
+                bihNodes.RemoveRange(header.firstNode, header.nodeCount);
+                triangles.RemoveRange(header.firstTriangle, header.triangleCount);
+                vertices.RemoveRange(header.firstVertex, header.vertexCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the mesh from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (triangles != null)
+                triangles.Dispose();
+            if (vertices != null)
+                vertices.Dispose();
+            if (bihNodes != null)
+                bihNodes.Dispose();
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta
new file mode 100644
index 00000000..a92add22
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures.meta
new file mode 100644
index 00000000..2c79eb3b
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta
new file mode 100644
index 00000000..2ccf1cd0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs
new file mode 100644
index 00000000..3573506c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs
@@ -0,0 +1,187 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ASDF
+    {
+        static readonly Vector4[] corners = 
+        {
+            new Vector4(-1,-1,-1,-1),
+            new Vector4(-1,-1,1,-1),
+            new Vector4(-1,1,-1,-1),
+            new Vector4(-1,1,1,-1),
+
+            new Vector4(1,-1,-1,-1),
+            new Vector4(1,-1,1,-1),
+            new Vector4(1,1,-1,-1),
+            new Vector4(1,1,1,-1)
+        };
+
+        static readonly Vector4[] samples =
+        {
+            new Vector4(0,0,0,0),
+            new Vector4(1,0,0,0),
+            new Vector4(-1,0,0,0),
+            new Vector4(0,1,0,0),
+            new Vector4(0,-1,0,0),
+            new Vector4(0,0,1,0),
+            new Vector4(0,0,-1,0),
+
+            new Vector4(0,-1,-1,0),
+            new Vector4(0,-1,1,0),
+            new Vector4(0,1,-1,0),
+            new Vector4(0,1,1,0),
+
+            new Vector4(-1,0,-1,0),
+            new Vector4(-1,0,1,0),
+            new Vector4(1,0,-1,0),
+            new Vector4(1,0,1,0),
+
+            new Vector4(-1,-1,0,0),
+            new Vector4(-1,1,0,0),
+            new Vector4(1,-1,0,0),
+            new Vector4(1,1,0,0)
+        };
+
+        const float sqrt3 = 1.73205f;
+
+        public static IEnumerator Build(float maxError, int maxDepth, Vector3[] vertexPositions, int[] triangleIndices, List<DFNode> nodes, int yieldAfterNodeCount = 32)
+        {
+            // Empty vertex or triangle lists, return.
+            if (maxDepth <= 0 ||
+                nodes == null ||
+                vertexPositions == null || vertexPositions.Length == 0 ||
+                triangleIndices == null || triangleIndices.Length == 0)
+                yield break;
+           
+            // Build a bounding interval hierarchy from the triangles, to speed up distance queries:
+            IBounded[] t = new IBounded[triangleIndices.Length / 3];
+            for (int i = 0; i < t.Length; ++i)
+            {
+                int t1 = triangleIndices[i * 3];
+                int t2 = triangleIndices[i * 3 + 1];
+                int t3 = triangleIndices[i * 3 + 2];
+                t[i] = new Triangle(t1, t2, t3, vertexPositions[t1], vertexPositions[t2], vertexPositions[t3]);
+            }
+            var bih = BIH.Build(ref t);
+
+            // Copy reordered triangles over to a new array:
+            Triangle[] tris = Array.ConvertAll(t, x => (Triangle)x); 
+
+            // Build angle weighted normals, used to determine the sign of the distance field.
+            Vector3[] angleNormals = ObiUtils.CalculateAngleWeightedNormals(vertexPositions,triangleIndices);
+
+            // Calculate bounding box of the mesh:
+            Bounds bounds = new Bounds(vertexPositions[0], Vector3.zero);
+            for (int i = 1; i < vertexPositions.Length; ++i)
+                bounds.Encapsulate(vertexPositions[i]);
+
+            bounds.Expand(0.2f);
+
+            // Auxiliar variables to keep track of current tree depth:
+            int depth = 0;
+            int nodesToNextLevel = 1;
+
+            // Initialize node list:
+            Vector4 center = bounds.center;
+            Vector3 boundsExtents = bounds.extents;
+            center[3] = Mathf.Max(boundsExtents[0], Math.Max(boundsExtents[1], boundsExtents[2]));
+            nodes.Clear();
+            nodes.Add(new DFNode(center));
+
+
+            var queue = new Queue<int>();
+            queue.Enqueue(0);
+
+            int processedNodeCount = 0;
+            while (queue.Count > 0)
+            {
+                // get current node:
+                int index = queue.Dequeue();
+                var node = nodes[index];
+
+                // measure distance at the 8 node corners:
+                for (int i = 0; i < 8; ++i)
+                {
+                    Vector4 point = node.center + corners[i] * node.center[3];
+                    point[3] = 0;
+                    float distance = BIH.DistanceToSurface(bih, tris, vertexPositions,angleNormals,point);
+
+                    if (i < 4)
+                        node.distancesA[i] = distance;
+                    else
+                        node.distancesB[i - 4] = distance;
+                }
+
+                // only subdivide those nodes intersecting the surface:
+                if (depth < maxDepth && Mathf.Abs(BIH.DistanceToSurface(bih, tris, vertexPositions, angleNormals, node.center)) < node.center[3] * sqrt3)
+                {
+
+                    // calculate mean squared error between measured distances and interpolated ones:
+                    float mse = 0;
+                    for (int i = 0; i < samples.Length; ++i)
+                    {
+                        Vector4 point = node.center + samples[i] * node.center[3];
+                        float groundTruth = BIH.DistanceToSurface(bih, tris, vertexPositions, angleNormals, point);
+                        float estimation = node.Sample(point);
+                        float d = groundTruth - estimation;
+                        mse += d * d;
+                    }
+                    mse /= (float)samples.Length;
+
+                    // if error > threshold, subdivide the node:
+                    if (mse > maxError)
+                    {
+                        node.firstChild = nodes.Count;
+                        for (int i = 0; i < 8; ++i)
+                        {
+                            queue.Enqueue(nodes.Count);
+                            nodes.Add(new DFNode(node.center + corners[i] * node.center[3] * 0.5f));
+                        }
+                    }
+
+                    // keep track of current depth:
+                    if (--nodesToNextLevel == 0)
+                    {
+                        depth++;
+                        nodesToNextLevel = queue.Count;
+                    }
+                }
+
+                // feed the modified node back:
+                nodes[index] = node;
+
+                // if we've processed enough nodes, yield.
+                if (nodes.Count - processedNodeCount >= yieldAfterNodeCount)
+                {
+                    processedNodeCount = nodes.Count;
+                    yield return null;
+                }
+            }
+        }
+
+        public static float Sample(List<DFNode> nodes, Vector3 position)
+        {
+            if (nodes != null && nodes.Count > 0)
+            {
+                var queue = new Queue<int>();
+                queue.Enqueue(0);
+
+                while (queue.Count > 0)
+                {
+                    // get current node:
+                    var node = nodes[queue.Dequeue()];
+
+                    if (node.firstChild > -1)
+                        queue.Enqueue(node.firstChild + node.GetOctant(position));
+                    else
+                        return node.Sample(position);
+                }
+            }
+            return 0;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta
new file mode 100644
index 00000000..d51108ac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6951f2457b77d4daf9f257e128b6dfb2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
new file mode 100644
index 00000000..31892a9e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
@@ -0,0 +1,66 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public struct DFNode
+    {
+        public Vector4 distancesA;
+        public Vector4 distancesB;
+        public Vector4 center;
+        public int firstChild;
+
+        // add 12 bytes of padding to ensure correct memory alignment:
+#pragma warning disable 0414
+        private int pad0;
+        private int pad1;
+        private int pad2;
+#pragma warning restore 0414
+
+        public DFNode(Vector4 center)
+        {
+            this.distancesA = Vector4.zero;
+            this.distancesB = Vector4.zero;
+            this.center = center;
+            this.firstChild = -1;
+            this.pad0 = 0;
+            this.pad1 = 0;
+            this.pad2 = 0;
+        }
+
+        public float Sample(Vector3 position)
+        {
+            Vector3 nPos = GetNormalizedPos(position);
+
+            // trilinear interpolation: interpolate along x axis
+            Vector4 x = distancesA + (distancesB - distancesA) * nPos[0];
+
+            // interpolate along y axis
+            float y0 = x[0] + (x[2] - x[0]) * nPos[1];
+            float y1 = x[1] + (x[3] - x[1]) * nPos[1];
+
+            // interpolate along z axis.
+            return y0 + (y1 - y0) * nPos[2];
+        }
+
+        public Vector3 GetNormalizedPos(Vector3 position)
+        {
+            float size = center[3] * 2;
+            return new Vector3(
+                (position[0] - (center[0] - center[3])) / size,
+                (position[1] - (center[1] - center[3])) / size,
+                (position[2] - (center[2] - center[3])) / size
+            );
+        }
+
+        public int GetOctant(Vector3 position)
+        {
+            int index = 0;
+            if (position[0] > center[0]) index |= 4;
+            if (position[1] > center[1]) index |= 2;
+            if (position[2] > center[2]) index |= 1;
+            return index;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta
new file mode 100644
index 00000000..17405a2c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 769e6e9ced39347bc96146f1858ab648
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs
new file mode 100644
index 00000000..0ab75766
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Aabb
+    {
+        public Vector4 min;
+        public Vector4 max;
+
+        public Vector4 center
+        {
+            get { return min + (max - min) * 0.5f; }
+        }
+
+        public Vector4 size
+        {
+            get { return max - min; }
+        }
+
+        public Aabb(Vector4 min, Vector4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public Aabb(Vector4 point)
+        {
+            this.min = point;
+            this.max = point;
+        }
+
+        public void Encapsulate(Vector4 point)
+        {
+            min = Vector4.Min(min, point);
+            max = Vector4.Max(max, point); 
+        }
+
+        public void Encapsulate(Aabb other)
+        {
+            min = Vector4.Min(min, other.min);
+            max = Vector4.Max(max, other.max);
+        }
+
+        public void FromBounds(Bounds bounds, float thickness, bool is2D = false)
+        {
+            Vector3 s = Vector3.one * thickness;
+            min = bounds.min - s;
+            max = bounds.max + s;
+            if (is2D)
+                max[2] = min[2] = 0;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta
new file mode 100644
index 00000000..242d31dd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4b6d58d9b0a8a4f7ea09067526d713cf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
new file mode 100644
index 00000000..e129482e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
@@ -0,0 +1,65 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct AffineTransform
+    {
+        public Vector4 translation;
+        public Vector4 scale;
+        public Quaternion rotation;
+
+        public AffineTransform(Vector4 translation, Quaternion rotation, Vector4 scale)
+        {
+            // make sure there are good values in the 4th component:
+            translation[3] = 0;
+            scale[3] = 1;
+
+            this.translation = translation;
+            this.rotation = rotation;
+            this.scale = scale;
+        }
+
+        public void FromTransform3D(Transform source, ObiRigidbody rb)
+        {
+            if (rb != null && rb.unityRigidbody != null)
+            {
+                translation = source.position - rb.unityRigidbody.transform.position + rb.position;
+                rotation = (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * rb.rotation;
+            }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+        }
+
+        public void FromTransform2D(Transform source, ObiRigidbody2D rb)
+        {
+            if (rb != null && rb.unityRigidbody != null)
+            {
+                translation = source.position - rb.unityRigidbody.transform.position + (Vector3)rb.position;
+                rotation =  (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * Quaternion.AngleAxis(rb.rotation, Vector3.forward);
+            }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+            translation[2] = 0;
+        }
+
+        public AffineTransform Inverse()
+        {
+            var conj = Quaternion.Inverse(rotation);
+            var invScale = new Vector3(1 / scale.x, 1 / scale.y, 1 / scale.z);
+            return new AffineTransform(conj * Vector3.Scale(translation , -invScale),
+                                       conj,
+                                       invScale);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta
new file mode 100644
index 00000000..b15e7adc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c8eff617709c457a85387e2f72187aa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH.meta
new file mode 100644
index 00000000..4dd39cc2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3d141c0731e7c43e8be29d786670298c
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs
new file mode 100644
index 00000000..c770ed38
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs
@@ -0,0 +1,262 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class BIH
+    {
+        public static BIHNode[] Build(ref IBounded[] elements, int maxDepth = 10, float maxOverlap = 0.7f)
+        {
+            List<BIHNode> nodes = new List<BIHNode>{ new BIHNode(0, elements.Length) };
+
+            // auxiliar variables to keep track of current tree depth:
+            int depth = 0;
+            int nodesToNextLevel = 1;
+
+            var queue = new Queue<int>();
+            queue.Enqueue(0);
+
+            while (queue.Count > 0)
+            {
+                // get current node:
+                int index = queue.Dequeue();
+                var node = nodes[index];
+
+                // if this node contains enough elements, split it:
+                if (node.count > 2)
+                {
+                    int start = node.start;
+                    int end = start + (node.count - 1);
+
+                    // calculate bounding box of all elements:
+                    Aabb b = elements[start].GetBounds();
+                    for (int k = start + 1; k <= end; ++k)
+                        b.Encapsulate(elements[k].GetBounds());
+
+                    // determine split axis (longest one):
+                    Vector3 size = b.size;
+                    int axis = node.axis = (size.x > size.y) ?
+                                                (size.x > size.z ? 0 : 2) :
+                                                (size.y > size.z ? 1 : 2);
+
+                    // place split plane at half the longest axis:
+                    float pivot = b.min[axis] + size[axis] * 0.5f;
+
+                    // partition elements according to which side of the split plane they're at:
+                    int j = HoarePartition(elements, start, end, pivot, ref node, axis);
+
+                    // create two child nodes:
+                    var minChild = new BIHNode(start, j - start + 1);
+                    var maxChild = new BIHNode(j + 1, end - j);
+
+                    // calculate child overlap:
+                    float overlap = size[axis] > 0 ? Mathf.Max(node.min - node.max, 0) / size[axis] : 1;
+
+                    // guard against cases where all elements are on one side of the split plane,
+                    // due to all having the same or very similar bounds as the entire group.
+                    if (overlap <= maxOverlap && minChild.count > 0 && maxChild.count > 0)
+                    {
+                        node.firstChild = nodes.Count;
+                        nodes[index] = node;
+
+                        queue.Enqueue(nodes.Count);
+                        queue.Enqueue(nodes.Count + 1);
+
+                        // append child nodes to list:
+                        nodes.Add(minChild);
+                        nodes.Add(maxChild);
+                    }
+
+                    // keep track of current depth:
+                    if (--nodesToNextLevel == 0)
+                    {
+                        depth++;
+                        if (depth >= maxDepth)
+                            return nodes.ToArray();
+                        nodesToNextLevel = queue.Count;
+                    }
+                }
+            }
+            return nodes.ToArray();
+        }
+
+        public static int HoarePartition(IBounded[] elements, int start, int end, float pivot, ref BIHNode node, int axis)
+        {
+            int i = start;
+            int j = end;
+
+            while (i <= j)
+            {
+                while (i < end && elements[i].GetBounds().center[axis] < pivot)
+                    node.min = Mathf.Max(node.min, elements[i++].GetBounds().max[axis]);
+
+                while (j > start && elements[j].GetBounds().center[axis] > pivot)
+                    node.max = Mathf.Min(node.max, elements[j--].GetBounds().min[axis]);
+
+                if (i <= j)
+                {
+                    node.min = Mathf.Max(node.min, elements[j].GetBounds().max[axis]);
+                    node.max = Mathf.Min(node.max, elements[i].GetBounds().min[axis]);
+                    ObiUtils.Swap(ref elements[i++], ref elements[j--]);
+                }
+            }
+
+            return j;
+        }
+
+        public static float DistanceToSurface(Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in BIHNode node,
+                                              in Vector3 point)
+        {
+            float minDistance = float.MaxValue;
+            int sign = 1;
+
+            Vector3 pointOnTri;
+            Vector3 interpolatedNormal;
+
+            for (int i = node.start; i < node.start + node.count; ++i)
+            {
+                Triangle t = triangles[i];
+
+
+                    ObiUtils.NearestPointOnTri(in vertices[t.i1],
+                                               in vertices[t.i2],
+                                               in vertices[t.i3],
+                                               in point,
+                                               out pointOnTri);
+
+                Vector3 pointToTri = point - pointOnTri;
+                float sqrDistance = pointToTri.sqrMagnitude;
+
+                if (sqrDistance < minDistance)
+                {
+                    Vector3 bary = Vector3.zero;
+                    ObiUtils.BarycentricCoordinates(in vertices[t.i1], in vertices[t.i2], in vertices[t.i3], in pointOnTri, ref bary);
+                    ObiUtils.BarycentricInterpolation(in normals[t.i1],
+                                                      in normals[t.i2],
+                                                      in normals[t.i3],
+                                                      in bary,
+                                                      out interpolatedNormal);
+
+                    sign = ObiUtils.PureSign(pointToTri.x * interpolatedNormal.x +
+                                             pointToTri.y * interpolatedNormal.y +
+                                             pointToTri.z * interpolatedNormal.z);
+
+                    minDistance = sqrDistance;
+                }
+            }
+
+            return Mathf.Sqrt(minDistance) * sign;
+        }
+
+        public static float DistanceToSurface(BIHNode[] nodes,
+                                              Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in Vector3 point)
+        {
+
+            if (nodes.Length > 0)
+                return DistanceToSurface(nodes, triangles, vertices, normals, in nodes[0], in point);
+
+            return float.MaxValue;
+        }
+
+        public static float DistanceToSurface(BIHNode[] nodes,
+                                              Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in BIHNode node,
+                                              in Vector3 point)
+        {
+
+            float MinSignedDistance(float d1, float d2)
+            {
+                return (Mathf.Abs(d1) < Mathf.Abs(d2)) ? d1 : d2;
+            }
+
+            if (node.firstChild >= 0)
+            {
+                /**
+                 * If the current node is not a leaf, figure out which side of the split plane that contains the query point, and recurse down that side.
+                 * You will get the index and distance to the closest triangle in that subtree.
+                 * Then, check if the distance to the nearest triangle is closer to the query point than the distance between the query point and the split plane.
+                 * If it is closer, there is no need to recurse down the other side of the KD tree and you can just return.
+                 * Otherwise, you will need to recurse down the other way too, and return whichever result is closer.
+                 */
+
+                float si = float.MaxValue;
+                float p = point[node.axis];
+
+                // child nodes overlap:
+                if (node.min > node.max)
+                {
+                    // CASE 1: we are in the overlapping zone: recurse down both.
+                    if (p <= node.min && p >= node.max)
+                    {
+                        si = MinSignedDistance(DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point),
+                                               DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                    // CASE 2: to the right of left pivot, that is: in the right child only.
+                    else if (p > node.min)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                    // CASE 3: to the left of right pivot, that is: in the left child only.
+                    else
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, nodes[node.firstChild], point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(node.max - p))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                }
+                // child nodes do not overlap
+                else
+                {
+                    // CASE 4: we are in the middle. just pick up one child (I chose right), get minimum, and if the other child pivot is nearer, recurse down it too.
+                    // Just like case 2.
+                    if (p > node.min && p < node.max)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                    // CASE 5: in the left child. Just like case 3.
+                    else if (p <= node.min)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(node.max - p))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                    // CASE 6: in the right child. Just like case 2
+                    else if (p >= node.max)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                }
+
+                return si;
+            }
+            else
+                return DistanceToSurface(triangles, vertices, normals, in node, point);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta
new file mode 100644
index 00000000..767c410f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7d1727eb52e8f4619a5dc1084db72db0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs
new file mode 100644
index 00000000..0599e5e3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs
@@ -0,0 +1,25 @@
+using System;
+
+namespace Obi
+{
+    public struct BIHNode
+    {
+        public int firstChild;     /**< index of the first child node. The second one is right after the first.*/
+        public int start;          /**< index of the first element in this node.*/
+        public int count;          /**< amount of elements in this node.*/
+
+        public int axis;           /**< axis of the split plane (0,1,2 = x,y,z)*/
+        public float min;          /**< minimum split plane*/
+        public float max;          /**< maximum split plane*/
+
+        public BIHNode(int start, int count)
+        {
+            firstChild = -1;
+            this.start = start;
+            this.count = count;
+            axis = 0;
+            min = float.MinValue;
+            max = float.MaxValue;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta
new file mode 100644
index 00000000..618215bc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta
@@ -0,0 +1,11 @@
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+guid: 128610647c5e64bc284f13abefda3a58
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs
new file mode 100644
index 00000000..f6cf2b3c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs
@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public interface IBounded
+    {
+        Aabb GetBounds();
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta
new file mode 100644
index 00000000..37605497
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta
@@ -0,0 +1,11 @@
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+guid: 44a65f44be3e24beca5faaa7d2c28480
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs
new file mode 100644
index 00000000..12e7453b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs
@@ -0,0 +1,17 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct CellSpan
+    {
+        public VInt4 min;
+        public VInt4 max;
+
+        public CellSpan(VInt4 min, VInt4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta
new file mode 100644
index 00000000..4b19c3ac
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 786fc387d096a4921bd52253d3f51b02
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
new file mode 100644
index 00000000..e51423f4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
@@ -0,0 +1,68 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct ColliderRigidbody
+    {
+        public Matrix4x4 inverseInertiaTensor;
+        public Vector4 velocity;
+        public Vector4 angularVelocity;
+        public Vector4 com;
+        public float inverseMass;
+         
+        public int constraintCount;
+        private int pad1;
+        private int pad2;
+
+        public void FromRigidbody(ObiRigidbody rb)
+        {
+            bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
+
+            //rotation = source.rotation;
+            velocity = rb.kinematicForParticles ? Vector3.zero : rb.linearVelocity + (rb.unityRigidbody.useGravity ? Physics.gravity * Time.fixedDeltaTime : Vector3.zero);
+            angularVelocity = rb.kinematicForParticles ? Vector3.zero : rb.angularVelocity;
+
+            // center of mass in unity is affected by local rotation and position, but not scale. We need it expressed in world space:
+            com = rb.unityRigidbody.position + rb.unityRigidbody.rotation * rb.unityRigidbody.centerOfMass;
+
+            Vector3 invTensor = new Vector3((rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationX) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.x,
+                                            (rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationY) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.y,
+                                            (rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationZ) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.z);
+
+            // the inertia tensor is a diagonal matrix (Vector3) because it is expressed in the space generated by the principal axes of rotation (inertiaTensorRotation).
+            Vector3 inertiaTensor = kinematic ? Vector3.zero : invTensor;
+
+            // calculate full world space inertia matrix:
+            Matrix4x4 rotation = Matrix4x4.Rotate(rb.unityRigidbody.rotation * rb.unityRigidbody.inertiaTensorRotation);
+            inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
+
+            inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
+
+        }
+
+        public void FromRigidbody(ObiRigidbody2D rb)
+        {
+
+            bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
+            velocity = rb.linearVelocity;
+
+            // For some weird reason, in 2D angular velocity is measured in *degrees* per second, 
+            // instead of radians. Seriously Unity, WTF??
+            angularVelocity = new Vector4(0, 0, rb.angularVelocity * Mathf.Deg2Rad, 0);
+
+            // center of mass in unity is affected by local rotation and poistion, but not scale. We need it expressed in world space:
+            com = rb.transform.position + rb.transform.rotation * rb.unityRigidbody.centerOfMass;
+
+            Vector3 inertiaTensor = kinematic ? Vector3.zero : new Vector3(0, 0, (rb.unityRigidbody.constraints & RigidbodyConstraints2D.FreezeRotation) != 0 ? 0 : 1 / rb.unityRigidbody.inertia);
+
+            Matrix4x4 rotation = Matrix4x4.Rotate(Quaternion.AngleAxis(rb.rotation, Vector3.forward));
+            inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
+
+            inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
+
+        }
+
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta
new file mode 100644
index 00000000..ee331897
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2273ddd528c3a44af9ef3f985a620e24
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
new file mode 100644
index 00000000..f71030e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct ColliderShape
+    {
+        public enum ShapeType
+        {
+            Sphere = 0,
+            Box = 1,
+            Capsule = 2,
+            Heightmap = 3,
+            TriangleMesh = 4,
+            EdgeMesh = 5,
+            SignedDistanceField = 6
+        }
+
+        public Vector4 center;   
+        public Vector4 size;     /**<     box: size of the box in each axis.
+                                          sphere: radius of sphere (x,y,z),
+                                          capsule: radius (x), height(y), direction (z, can be 0, 1 or 2).
+                                          heightmap: width (x axis), height (y axis) and depth (z axis) in world units.*/
+        public ShapeType type;
+        public float contactOffset;
+        public int dataIndex;
+        public int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
+        public int materialIndex;   // index of the associated material in the collision world.
+        public int forceZoneIndex;  // index of the associated force zone in the collision world.
+        public int filter;          // bitwise category/mask.
+        public int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0),
+                                    // third bit (sign) determines whether shape is inverted or not.
+
+        public bool is2D
+        {
+            get => (flags & 1) != 0;
+            set => flags |= value ? 1 : 0;
+        }
+        public bool isTrigger
+        {
+            get => ((flags & 1 << 1) != 0) || forceZoneIndex >= 0;
+            set => flags |= value ? 1 << 1 : 0;
+        }
+        public float sign
+        {
+            get => (flags & 1 << 2) != 0 ? -1 : 1;
+        }
+
+        public void SetSign(bool inverted)
+        {
+            if (inverted) flags |= 1 << 2;
+            else flags &= ~(1 << 2);
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta
new file mode 100644
index 00000000..9f1dc6e0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta
@@ -0,0 +1,11 @@
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+guid: 38d82eae8f8744bdc9f0795c1fd3b317
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
new file mode 100644
index 00000000..f0c815d5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
@@ -0,0 +1,35 @@
+using UnityEngine;
+using System.Collections;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct CollisionMaterial 
+    {
+        public float dynamicFriction;
+        public float staticFriction;
+        public float rollingFriction;
+        public float stickiness;
+        public float stickDistance;
+        public Oni.MaterialCombineMode frictionCombine;
+        public Oni.MaterialCombineMode stickinessCombine;
+        public int rollingContacts;
+
+        public void FromObiCollisionMaterial(ObiCollisionMaterial material)
+        {
+            if (material != null)
+            {
+                dynamicFriction = material.dynamicFriction;
+                staticFriction = material.staticFriction;
+                stickiness = material.stickiness;
+                stickDistance = material.stickDistance;
+                rollingFriction = material.rollingFriction;
+                frictionCombine = material.frictionCombine;
+                stickinessCombine = material.stickinessCombine;
+                rollingContacts = material.rollingContacts ? 1 : 0;
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta
new file mode 100644
index 00000000..9653b5b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta
@@ -0,0 +1,11 @@
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+guid: ed8262093b9b44e8abb2557ed2624c4d
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
new file mode 100644
index 00000000..1f3a8d20
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+#endif
+
+namespace Obi
+{
+    public struct ContactEffectiveMasses
+    {
+        public float normalInvMassA;
+        public float tangentInvMassA;
+        public float bitangentInvMassA;
+
+        public float normalInvMassB;
+        public float tangentInvMassB;
+        public float bitangentInvMassB;
+
+        public float TotalNormalInvMass => normalInvMassA + normalInvMassB;
+        public float TotalTangentInvMass => tangentInvMassA + tangentInvMassB;
+        public float TotalBitangentInvMass => bitangentInvMassA + bitangentInvMassB;
+
+        public void ClearContactMassesA()
+        {
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = 0;
+        }
+
+        public void ClearContactMassesB()
+        {
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = 0;
+        }
+
+        #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+        public void CalculateContactMassesA(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rA = contactPoint - position;
+                float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, normal);
+                tangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, tangent);
+                bitangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, bitangent);
+            }
+        }
+
+        public void CalculateContactMassesB(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rB = contactPoint - position;
+                float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, normal);
+                tangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, tangent);
+                bitangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, bitangent);
+            }
+        }
+
+
+        public void CalculateContactMassesB(in BurstRigidbody rigidbody, in BurstAffineTransform solver2World, float4 pointB, float4 normal, float4 tangent, float4 bitangent)
+        {
+            float4 rB = solver2World.TransformPoint(pointB) - rigidbody.com;
+
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
+            normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
+            tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
+            bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
+        }
+        #endif
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta
new file mode 100644
index 00000000..bf8ca76f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta
@@ -0,0 +1,11 @@
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+guid: 7b11c7db3414246668eb72ef55dd737f
+MonoImporter:
+  externalObjects: {}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs
new file mode 100644
index 00000000..dfa50f31
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs
@@ -0,0 +1,40 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public struct EmitPoint
+    {
+        public Vector4 position;
+        public Vector4 direction;
+        public Vector4 velocity;
+        public Color color;
+
+        public EmitPoint(Vector3 position, Vector3 direction)
+        {
+            this.position = position;
+            this.direction = direction;
+            this.velocity = Vector4.zero;
+            this.color = Color.white;
+        }
+
+        public EmitPoint(Vector3 position, Vector3 direction, Color color)
+        {
+            this.position = position;
+            this.direction = direction;
+            this.velocity = Vector4.zero;
+            this.color = color;
+        }
+
+        public EmitPoint GetTransformed(Matrix4x4 transform, Matrix4x4 prevTransform, Color multiplyColor, float deltaTime)
+        {
+            var ep = new EmitPoint(transform.MultiplyPoint3x4(position),
+                                   transform.MultiplyVector(direction),
+                                   color * multiplyColor);
+
+            ep.velocity = deltaTime > 0 ? ((Vector3)ep.position - prevTransform.MultiplyPoint3x4(position)) / deltaTime : Vector3.zero;
+            return ep;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta
new file mode 100644
index 00000000..cc9dd048
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs
new file mode 100644
index 00000000..17ec8aee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs
@@ -0,0 +1,15 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct EmittedParticleData
+    {
+        public Vector4 fluidMaterial;
+        public Vector4 fluidInterface;
+        public Vector4 userData;
+        public int phase;
+        public float invMass;
+        public float radius;
+        public float volume;
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta
new file mode 100644
index 00000000..d57c7784
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 032673eb10713468fb72d04ad5cc6b26
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs
new file mode 100644
index 00000000..bc7d687a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs
@@ -0,0 +1,40 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public struct ForceZone
+    {
+        public enum ForceMode
+        {
+            Force,
+            Acceleration,
+            Wind,
+        }
+
+        public enum ZoneType
+        {
+            Directional,
+            Radial,
+            Vortex,
+            Void
+        }
+
+        public enum DampingDirection
+        {
+            All,   // damps motion in all directions
+            ForceDirection, // damps motion in the direction of force.
+            SurfaceDirection // damps motion toward/away from the surface of the zone.
+        }
+
+        public ZoneType type;
+        public ForceMode mode;
+        public DampingDirection dampingDir;
+        public float intensity;
+        public float minDistance;
+        public float maxDistance;
+        public float falloffPower;
+        public float damping;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta
new file mode 100644
index 00000000..f39f401c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5c189f8dc8ade4e14a960f3b6eb11f14
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
new file mode 100644
index 00000000..4f2561f9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct InertialFrame
+    {
+        public AffineTransform frame;
+        public AffineTransform prevFrame;
+
+        public Vector4 velocity;
+        public Vector4 angularVelocity;
+
+        public Vector4 acceleration;
+        public Vector4 angularAcceleration;
+
+        public InertialFrame(Vector4 position, Vector4 scale, Quaternion rotation)
+        {
+            this.frame = new AffineTransform(position, rotation, scale);
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public InertialFrame(AffineTransform frame)
+        {
+            this.frame = frame;
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public void Update(Vector4 position, Vector4 scale, Quaternion rotation, float dt)
+        {
+            prevFrame = frame;
+            Vector4 prevVelocity = velocity;
+            Vector4 prevAngularVelocity = angularVelocity;
+
+            frame.translation = position;
+            frame.rotation = rotation;
+            frame.scale = scale;
+
+            velocity = ObiIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
+            angularVelocity = ObiIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
+
+            acceleration = ObiIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
+            angularAcceleration = ObiIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta
new file mode 100644
index 00000000..56b8e923
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta
new file mode 100644
index 00000000..c9416a7c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2f5d490805c6e4ee6b39c067e26e490c
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs
new file mode 100644
index 00000000..0c699a24
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeAabbList : ObiNativeList<Aabb>
+    {
+        public ObiNativeAabbList() { }
+        public ObiNativeAabbList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Aabb();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta
new file mode 100644
index 00000000..398a6041
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 96e807cda064c47c1aed643600660143
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs
new file mode 100644
index 00000000..466b4f8d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeAffineTransformList : ObiNativeList<AffineTransform>
+    {
+        public ObiNativeAffineTransformList() { }
+        public ObiNativeAffineTransformList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new AffineTransform();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta
new file mode 100644
index 00000000..c5ae9d09
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f741a9b23bfd4f55979eb1a18146388
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs
new file mode 100644
index 00000000..376276d2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeBIHNodeList : ObiNativeList<BIHNode>
+    {
+        public ObiNativeBIHNodeList() { }
+        public ObiNativeBIHNodeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new BIHNode();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta
new file mode 100644
index 00000000..301def19
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c960e0992a4cf4d7195a513c5fd5f550
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs
new file mode 100644
index 00000000..83c37551
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeBoneWeightList : ObiNativeList<BoneWeight1>
+    {
+        public ObiNativeBoneWeightList() { }
+        public ObiNativeBoneWeightList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new BoneWeight1();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta
new file mode 100644
index 00000000..36daa8ed
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 50b49a1cc8de340ebb8d6a89fb044c1d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs
new file mode 100644
index 00000000..800c3046
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs
@@ -0,0 +1,18 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeByteList : ObiNativeList<byte>
+    {
+
+        public ObiNativeByteList() { }
+        public ObiNativeByteList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = 0;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs.meta
new file mode 100644
index 00000000..ffe7d6fd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: aefb86b129c07425fa244ada261f4184
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs
new file mode 100644
index 00000000..468759ce
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeCellSpanList : ObiNativeList<CellSpan>
+    {
+        public ObiNativeCellSpanList() { }
+        public ObiNativeCellSpanList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new CellSpan();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta
new file mode 100644
index 00000000..f06f2c71
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 53a29ecfe0ecb4db3a344781b333776d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs
new file mode 100644
index 00000000..bce8165f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeColliderShapeList : ObiNativeList<ColliderShape>
+    {
+        public ObiNativeColliderShapeList() { }
+        public ObiNativeColliderShapeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ColliderShape();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta
new file mode 100644
index 00000000..22379f03
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 45031e9a1b74143c4a6df44e2b999373
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs
new file mode 100644
index 00000000..0f1a048a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeCollisionMaterialList : ObiNativeList<CollisionMaterial>
+    {
+        public ObiNativeCollisionMaterialList() { }
+        public ObiNativeCollisionMaterialList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new CollisionMaterial();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta
new file mode 100644
index 00000000..1c43e6ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f6d32cd2f844a48cab0508f798fc1ff4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
new file mode 100644
index 00000000..94e9cef2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeColorList : ObiNativeList<Color>
+    {
+        public ObiNativeColorList() { }
+        public ObiNativeColorList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Color.white;
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
new file mode 100644
index 00000000..eb41d0f7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f377d76dadb3945b39cfac818a54d1be
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs
new file mode 100644
index 00000000..339b196d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeContactList : ObiNativeList<Oni.Contact>
+    {
+        public ObiNativeContactList() { }
+        public ObiNativeContactList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Oni.Contact();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta
new file mode 100644
index 00000000..74a33c11
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: aa58238d45b934704aede27415ce4242
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs
new file mode 100644
index 00000000..c19ee95f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeDFNodeList : ObiNativeList<DFNode>
+    {
+        public ObiNativeDFNodeList() { }
+        public ObiNativeDFNodeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new DFNode();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta
new file mode 100644
index 00000000..44752470
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 17462646d532945749479c75ba3cd0d8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs
new file mode 100644
index 00000000..a784f777
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeDistanceFieldHeaderList : ObiNativeList<DistanceFieldHeader>
+    {
+        public ObiNativeDistanceFieldHeaderList() { }
+        public ObiNativeDistanceFieldHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new DistanceFieldHeader();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta
new file mode 100644
index 00000000..198e874f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1e18334e185814395aac025a1d4afe70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs
new file mode 100644
index 00000000..6589654c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEdgeList : ObiNativeList<Edge>
+    {
+        public ObiNativeEdgeList() { }
+        public ObiNativeEdgeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Edge();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta
new file mode 100644
index 00000000..1d014136
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0d602b9fba6fc4e78a78b8dee0acd309
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs
new file mode 100644
index 00000000..6055829d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEdgeMeshHeaderList : ObiNativeList<EdgeMeshHeader>
+    {
+        public ObiNativeEdgeMeshHeaderList() { }
+        public ObiNativeEdgeMeshHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new EdgeMeshHeader();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta
new file mode 100644
index 00000000..98f0f3d8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 474a95d0d9d37494f9ac5201e262b8a4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs
new file mode 100644
index 00000000..974f9f32
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEffectiveMassesList : ObiNativeList<ContactEffectiveMasses>
+    {
+        public ObiNativeEffectiveMassesList() { }
+        public ObiNativeEffectiveMassesList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ContactEffectiveMasses();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta
new file mode 100644
index 00000000..813424cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fc8b00cd716564eff82fc19de0c458a8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs
new file mode 100644
index 00000000..39abfa12
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEmitPointList : ObiNativeList<EmitPoint>
+    {
+        public ObiNativeEmitPointList() { }
+        public ObiNativeEmitPointList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new EmitPoint();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta
new file mode 100644
index 00000000..13c552e6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3cbd83091221b46c9a724f3275281d2e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs
new file mode 100644
index 00000000..b1c418bf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeFloatList : ObiNativeList<float>
+    {
+        public ObiNativeFloatList() { }
+        public ObiNativeFloatList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = 0;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs.meta
new file mode 100644
index 00000000..332159d3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7cf0e80d841ca4425a99bc2d4beb3547
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs
new file mode 100644
index 00000000..442146f1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeForceZoneList : ObiNativeList<ForceZone>
+    {
+        public ObiNativeForceZoneList() { }
+        public ObiNativeForceZoneList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ForceZone();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta
new file mode 100644
index 00000000..65b36912
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2815feee105f648149e0f5b1b22954bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs
new file mode 100644
index 00000000..1baeff23
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeHeightFieldHeaderList : ObiNativeList<HeightFieldHeader>
+    {
+        public ObiNativeHeightFieldHeaderList() { }
+        public ObiNativeHeightFieldHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new HeightFieldHeader();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta
new file mode 100644
index 00000000..412b35ad
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61e8d2ecda37e442aa8f24756395f12a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
new file mode 100644
index 00000000..81d9d069
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
@@ -0,0 +1,22 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeInt4List : ObiNativeList<VInt4>
+    {
+        public ObiNativeInt4List() { }
+        public ObiNativeInt4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new VInt4(0,0,0,0);
+        }
+
+        public ObiNativeInt4List(int capacity, int alignment, VInt4 defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta
new file mode 100644
index 00000000..1a032a3f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 18f572cdc044a4caabe29c40944c0987
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
new file mode 100644
index 00000000..63bf4570
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeIntList : ObiNativeList<int>
+    {
+        public ObiNativeIntList() { }
+        public ObiNativeIntList(int capacity = 8, int alignment = 16) : base(capacity,alignment)
+        { 
+            for (int i = 0; i < capacity; ++i)
+                this[i] = 0;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs.meta
new file mode 100644
index 00000000..be226462
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0f8a8fd8447dc458bab16dea3dfd5580
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs
new file mode 100644
index 00000000..6ac489c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs
@@ -0,0 +1,16 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiNativeIntPtrList : ObiNativeList<IntPtr>
+    {
+        public ObiNativeIntPtrList() { }
+        public ObiNativeIntPtrList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = IntPtr.Zero;
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta
new file mode 100644
index 00000000..4d49d8b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6201c3f1582cd43deaaf41286f802126
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
new file mode 100644
index 00000000..d36dbec2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
@@ -0,0 +1,700 @@
+using System;
+using System.Text;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Collections;
+using UnityEngine.Rendering;
+using System.Linq;
+
+namespace Obi
+{
+    public unsafe class ObiNativeList<T> : IEnumerable<T>, IDisposable, ISerializationCallbackReceiver where T : struct
+    {
+        public T[] serializedContents;
+        protected void* m_AlignedPtr = null;
+
+        protected int m_Stride;
+        protected int m_Capacity;
+        protected int m_Count;
+        [SerializeField] protected int m_AlignBytes = 16;
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+        protected AtomicSafetyHandle m_SafetyHandle;
+#endif
+
+        protected GraphicsBuffer.Target m_ComputeBufferType;
+        protected GraphicsBuffer m_ComputeBuffer;
+        protected GraphicsBuffer m_CountBuffer; // used to hold the counter value in case m_ComputeBufferType is Counter.
+        protected bool computeBufferDirty = false;
+        protected AsyncGPUReadbackRequest m_AsyncRequest;
+        protected AsyncGPUReadbackRequest m_CounterAsyncRequest;
+
+        public int count
+        {
+            set
+            {
+                if (value != m_Count)
+                {
+                    // we should not use ResizeUninitialized as it would destroy all current data.
+                    // we first ensure we can hold the previous count, and then set the new one.
+                    EnsureCapacity(m_Count);
+                    m_Count = Mathf.Min(m_Capacity, value);
+                }
+            }
+            get { return m_Count; }
+        }
+
+        public int capacity
+        {
+            get { return m_Capacity; }
+        }
+
+        public int stride
+        {
+            get { return m_Stride; }
+        }
+
+        public bool isCreated
+        {
+            get { return m_AlignedPtr != null; }
+        }
+
+        public bool noReadbackInFlight
+        {
+            get { return m_AsyncRequest.done && (m_ComputeBufferType != GraphicsBuffer.Target.Counter || m_CounterAsyncRequest.done); }
+        }
+
+        // Returns the current compute buffer representation of this list. Will return null if AsComputeBuffer() hasn't been called yet,
+        // or if the list has been disposed of.
+        public GraphicsBuffer computeBuffer
+        {
+            get { return m_ComputeBuffer; }
+        }
+
+        public T this[int index]
+        {
+            get
+            {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                if (index < 0 || index >= m_Capacity)
+                {
+                    throw new IndexOutOfRangeException($"Reading from index {index} is out of range of '{m_Capacity}' Capacity.");
+                }
+#endif
+                return UnsafeUtility.ReadArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride);
+            }
+            set
+            {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                if (index < 0 || index >= m_Capacity)
+                {
+                    throw new IndexOutOfRangeException($"Writing to index {index} is out of range of '{m_Capacity}' Capacity.");
+                }
+#endif
+                UnsafeUtility.WriteArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride, value);
+                computeBufferDirty = true;
+            }
+        }
+
+        // Declare parameterless constructor, called by Unity upon deserialization.
+        protected ObiNativeList()
+        {
+            m_Stride = UnsafeUtility.SizeOf<T>();
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            m_SafetyHandle = AtomicSafetyHandle.Create();
+#endif
+        }
+
+        public ObiNativeList(int capacity = 8, int alignment = 16)
+        {
+            m_Stride = UnsafeUtility.SizeOf<T>();
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            m_SafetyHandle = AtomicSafetyHandle.Create();
+#endif
+            m_AlignBytes = alignment;
+            ChangeCapacity(capacity);
+        }
+
+        ~ObiNativeList()
+        {
+            Dispose(false);
+        }
+
+        protected void Dispose(bool disposing)
+        {
+            DisposeOfComputeBuffer();
+
+            if (isCreated)
+            {
+                // free unmanaged memory buffer:
+                UnsafeUtility.Free(m_AlignedPtr, Allocator.Persistent);
+                m_AlignedPtr = null;
+                m_Count = m_Capacity = 0;
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                // dispose of atomic safety handle:
+                AtomicSafetyHandle.CheckDeallocateAndThrow(m_SafetyHandle);
+                AtomicSafetyHandle.Release(m_SafetyHandle);
+#endif
+            }
+        }
+
+        public void Dispose()
+        {
+            Dispose(true);
+        }
+
+        public void DisposeOfComputeBuffer()
+        {
+            // dispose of compute buffer representation:
+            if (m_ComputeBuffer != null)
+            {
+                // if there's any pending async readback, finalize it.
+                // otherwise we pull the rug from under the readbacks' feet and that's no good.
+                WaitForReadback();
+
+                m_ComputeBuffer.Dispose();
+                m_ComputeBuffer = null;
+            }
+
+            if (m_CountBuffer != null)
+            {
+                m_CountBuffer.Dispose();
+                m_CountBuffer = null;
+            }
+        }
+
+        public void OnBeforeSerialize()
+        {
+            if (isCreated)
+            {
+                // create a new managed array to serialize the data:
+                serializedContents = new T[m_Count];
+
+                // pin the managed array and get its address:
+                ulong serializedContentsHandle;
+                var serializedContentsAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(serializedContents, out serializedContentsHandle);
+
+                // copy data over to the managed array:
+                UnsafeUtility.MemCpy(serializedContentsAddress, m_AlignedPtr, m_Count * m_Stride);
+
+                // unpin the managed array:
+                UnsafeUtility.ReleaseGCObject(serializedContentsHandle);
+            }
+        }
+
+        public void OnAfterDeserialize()
+        {
+            if (serializedContents != null)
+            {
+                // resize to receive the serialized data:
+                ResizeUninitialized(serializedContents.Length);
+
+                // pin the managed array and get its address:
+                ulong serializedContentsHandle;
+                var serializedContentsAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(serializedContents, out serializedContentsHandle);
+
+                // copy data from the managed array:
+                UnsafeUtility.MemCpy(m_AlignedPtr, serializedContentsAddress, m_Count * m_Stride);
+
+                // unpin the managed array:
+                UnsafeUtility.ReleaseGCObject(serializedContentsHandle);
+            }
+        }
+
+        // Reinterprets the data in the list as a native array.
+        public NativeArray<U> AsNativeArray<U>() where U : struct
+        {
+            return AsNativeArray<U>(m_Count);
+        }
+
+        public NativeArray<T> AsNativeArray()
+        {
+            return AsNativeArray<T>(m_Count);
+        }
+
+        // Reinterprets the data in the list as a native array of the given length, up to the list's capacity.
+        public NativeArray<U> AsNativeArray<U>(int arrayLength) where U : struct
+        {
+            unsafe
+            {
+                NativeArray<U> array = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<U>(m_AlignedPtr, Mathf.Min(arrayLength, m_Capacity), Allocator.None);
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref array, m_SafetyHandle);
+#endif
+                // assume the NativeArray will write new data, so we'll need to update the computeBuffer upon Upload().
+                computeBufferDirty = true;
+                return array;
+            }
+        }
+
+        // Reinterprets the data in the list as a compute buffer, in case of an empty list it returns a buffer of size 1 with uninitialized content.
+        public GraphicsBuffer SafeAsComputeBuffer<U>(GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
+        {
+            return AsComputeBuffer<U>(Mathf.Max(1,m_Count), bufferType);
+        }
+
+        // Reinterprets the data in the list as a compute buffer.
+        public GraphicsBuffer AsComputeBuffer<U>(GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
+        {
+            return AsComputeBuffer<U>(m_Count, bufferType);
+        }
+
+        // Reinterprets the data in the list as a compute buffer of the given length. Returns null if the list is empty.
+        public GraphicsBuffer AsComputeBuffer<U>(int arrayLength, GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
+        {
+            DisposeOfComputeBuffer();
+
+            if (arrayLength > 0)
+            {
+                m_ComputeBufferType = bufferType;
+                m_ComputeBuffer = new GraphicsBuffer(bufferType, arrayLength, UnsafeUtility.SizeOf<U>());
+                m_ComputeBuffer.SetData(AsNativeArray<U>(arrayLength));
+
+                if (bufferType == GraphicsBuffer.Target.Counter)
+                {
+                    // initialize count to zero, since counter buffers always start empty:
+                    m_Count = 0;
+                    m_ComputeBuffer.SetCounterValue((uint)m_Count);
+                    m_CountBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 1, 4);
+                    GraphicsBuffer.CopyCount(m_ComputeBuffer, m_CountBuffer, 0);
+                }
+
+                return m_ComputeBuffer;
+            }
+            return null;
+        }
+
+        // Kicks a GPU readback request, to bring compute buffer data to this list.
+        public void Readback<U>(int readcount, bool async) where U : struct
+        {
+            if (m_ComputeBuffer != null && m_ComputeBuffer.IsValid() && noReadbackInFlight)
+            {
+                // On counter buffers, we shouldn't read data up to m_Count and then update m_Count with the compute buffer's counter value *afterwards*.
+                // This would lead to reading back less data than we should, so we need to request the entire compute buffer.
+                var nativeArray = AsNativeArray<U>(readcount);
+
+                // When using SafeAsComputeBuffer, we'll get a compute buffer of size 1 even if the list (and the NativeArray) is empty.
+                // Guard against trying to readback into a smaller NativeArray. Also guard against requesting zero items.
+                if (nativeArray.Length >= readcount && readcount > 0)
+                    m_AsyncRequest = AsyncGPUReadback.RequestIntoNativeArray(ref nativeArray, m_ComputeBuffer, readcount * UnsafeUtility.SizeOf<U>(), 0);
+
+                // For counter buffers, request the counter value too:
+                if (m_ComputeBufferType == GraphicsBuffer.Target.Counter)
+                {
+                    GraphicsBuffer.CopyCount(m_ComputeBuffer, m_CountBuffer, 0);
+                    m_CounterAsyncRequest = AsyncGPUReadback.Request(m_CountBuffer, m_CountBuffer.stride, 0, (AsyncGPUReadbackRequest request)=>
+                    {
+                        if (!request.hasError)
+                            m_Count = Mathf.Min(m_Capacity, request.GetData<int>()[0]);
+                    });
+                }
+
+                if (!async)
+                    WaitForReadback();
+            }
+        }
+
+        public void Readback(bool async = true)
+        {
+            if (m_ComputeBuffer != null)
+                Readback<T>(m_ComputeBuffer.count, async);
+        }
+
+        public void Readback(int readcount ,bool async = true)
+        {
+            Readback<T>(readcount, async);
+        }
+
+        // Makes sure any pending changes by the CPU are sent to the GPU. 
+        // If the list data has been changed on the CPU since the last time Unmap() was called and there's a compute buffer associated to it,
+        // will write the current contents of the list to the compute buffer.
+        public void Upload<U>(int length, bool force = false) where U : struct
+        {
+            if ((computeBufferDirty || force) && m_ComputeBuffer != null && m_ComputeBuffer.IsValid())
+                m_ComputeBuffer.SetData(AsNativeArray<U>(length));
+
+            computeBufferDirty = false;
+        }
+
+        public void Upload(bool force = false)
+        {
+            Upload<T>(m_Count,force);
+        }
+
+        public void UploadFullCapacity()
+        {
+            Upload<T>(m_Capacity, true);
+        }
+
+        // Waits for the last readback request to be complete, this brings back data from the GPU to the CPU:
+        public void WaitForReadback()
+        {
+            if (isCreated)
+            {
+                m_AsyncRequest.WaitForCompletion();
+                m_CounterAsyncRequest.WaitForCompletion();
+            }
+        }
+
+        protected void ChangeCapacity(int newCapacity)
+        {
+            // invalidate compute buffer:
+            DisposeOfComputeBuffer();
+
+            // allocate a new buffer:
+            m_Stride = UnsafeUtility.SizeOf<T>();
+            var newAlignedPtr = UnsafeUtility.Malloc(newCapacity * m_Stride, m_AlignBytes, Allocator.Persistent);
+
+            // if there was a previous allocation:
+            if (isCreated)
+            {
+                // copy contents from previous memory region
+                unsafe
+                {
+                    UnsafeUtility.MemCpy(newAlignedPtr, m_AlignedPtr, Mathf.Min(newCapacity, m_Capacity) * m_Stride);
+                }
+
+                // free previous memory region
+                UnsafeUtility.Free(m_AlignedPtr, Allocator.Persistent);
+            }
+
+            // get hold of new pointers/capacity.
+            m_AlignedPtr = newAlignedPtr;
+            m_Capacity = newCapacity;
+        }
+
+        public bool Compare(ObiNativeList<T> other)
+        {
+            if (other == null || !isCreated || !other.isCreated)
+                throw new ArgumentNullException();
+
+            if (m_Count != other.m_Count)
+                return false;
+
+            return UnsafeUtility.MemCmp(m_AlignedPtr, other.m_AlignedPtr, m_Count * m_Stride) == 0;
+        }
+
+        public void CopyFrom(ObiNativeList<T> source)
+        {
+            if (source == null || !isCreated || !source.isCreated)
+                throw new ArgumentNullException();
+
+            if (m_Count < source.m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            UnsafeUtility.MemCpy(m_AlignedPtr, source.m_AlignedPtr, source.count * m_Stride);
+        }
+
+        public void CopyFrom(ObiNativeList<T> source, int sourceIndex, int destIndex, int length)
+        {
+            if (source == null || !isCreated || !source.isCreated)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.m_Count == 0)
+                return;
+
+            if (sourceIndex >= source.m_Count || sourceIndex < 0 || destIndex >= m_Count || destIndex < 0 ||
+                sourceIndex + length > source.m_Count || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = source.AddressOfElement(sourceIndex);
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+        }
+
+        public void CopyFrom<U>(NativeArray<U> source, int sourceIndex, int destIndex, int length) where U : struct
+        {
+            if (!isCreated || !source.IsCreated || UnsafeUtility.SizeOf<U>() != m_Stride)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.Length == 0)
+                return;
+
+            if (sourceIndex >= source.Length || sourceIndex < 0 || destIndex >= m_Count || destIndex < 0 ||
+                sourceIndex + length > source.Length || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = (byte*)source.GetUnsafePtr() + sourceIndex * m_Stride;
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+        }
+
+        public void CopyFrom(T[] source, int sourceIndex, int destIndex, int length)
+        {
+            if (source == null || !isCreated)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.Length == 0)
+                return;
+
+            if (sourceIndex < 0 || destIndex < 0 ||
+                sourceIndex + length > source.Length || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            // pin the managed array and get its address:
+            ulong sourceHandle;
+            void* sourceAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(source, out sourceHandle);
+            void* destAddress = UnsafeUtility.AddressOf(ref UnsafeUtility.ArrayElementAsRef<T>(m_AlignedPtr, destIndex));
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+
+            // unpin the managed array:
+            UnsafeUtility.ReleaseGCObject(sourceHandle);
+        }
+
+        public void CopyReplicate(T value, int destIndex, int length)
+        {
+            if (length <= 0) return;
+
+            if (!isCreated)
+                throw new ArgumentNullException();
+
+            if (destIndex >= m_Count || destIndex < 0 || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpyReplicate(destAddress, sourceAddress, m_Stride, length);
+        }
+
+        public void CopyTo(T[] dest, int sourceIndex, int length)
+        {
+            if (length <= 0) return;
+
+            if (dest == null || !isCreated)
+                throw new ArgumentNullException();
+
+            if (sourceIndex < 0 || sourceIndex >= m_Count || sourceIndex + length > m_Count || length > dest.Length)
+                throw new ArgumentOutOfRangeException();
+
+            ulong destHandle;
+            void* sourceAddress = AddressOfElement(sourceIndex);
+            void* destAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(dest, out destHandle);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+
+            UnsafeUtility.ReleaseGCObject(destHandle);
+        }
+
+        public void Clear()
+        {
+            m_Count = 0;
+        }
+
+        public void Add(T item)
+        {
+            EnsureCapacity(m_Count + 1);
+            computeBufferDirty = true;
+            this[m_Count++] = item;
+        }
+
+        public void AddReplicate(T value, int times)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + times);
+            CopyReplicate(value, appendAt, times);
+        }
+
+        public void AddRange(T[] array)
+        {
+            AddRange(array, array.Length);
+        }
+
+        public void AddRange(T[] array, int length)
+        {
+            AddRange(array, 0, length);
+        }
+
+        public void AddRange(T[] array, int start, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, start, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, 0, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array, int start, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, start, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array)
+        {
+            AddRange(array, array.count);
+        }
+
+        public void AddRange(IEnumerable<T> enumerable)
+        {
+            ICollection<T> collection = enumerable as ICollection<T>;
+            if (collection != null && collection.Count > 0)
+            {
+                EnsureCapacity(m_Count + collection.Count);
+            }
+
+            using (IEnumerator<T> enumerator = enumerable.GetEnumerator())
+            {
+                while (enumerator.MoveNext())
+                {
+                    Add(enumerator.Current);
+                }
+            }
+        }
+
+        public void RemoveRange(int index, int count)
+        {
+            if (index < 0 || count < 0 || index + count > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            for (int i = index; i < m_Count - count; ++i)
+                this[i] = this[i + count];
+
+            m_Count -= count;
+        }
+
+        public void RemoveAt(int index)
+        {
+            if (index < 0 || index >= count)
+                throw new ArgumentOutOfRangeException();
+
+            for (int i = index; i < m_Count - 1; ++i)
+                this[i] = this[i + 1];
+
+            m_Count--;
+        }
+
+        /**
+         * Ensures a minimal capacity of count elements, then sets the new count. Useful when passing the backing array to C++
+         * for being filled with new data.
+         */
+        public bool ResizeUninitialized(int newCount)
+        {
+            newCount = Mathf.Max(0, newCount);
+            bool realloc = EnsureCapacity(newCount);
+
+            m_Count = newCount;
+
+            return realloc;
+        }
+
+        public bool ResizeInitialized(int newCount, T value = default(T))
+        {
+            newCount = Mathf.Max(0, newCount);
+
+            bool initialize = newCount >= m_Capacity || !isCreated;
+            bool realloc = EnsureCapacity(newCount);
+
+            if (initialize)
+            {
+                void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+                void* destAddress = AddressOfElement(m_Count);
+                UnsafeUtility.MemCpyReplicate(destAddress, sourceAddress, m_Stride, m_Capacity - m_Count);
+            }
+
+            m_Count = newCount;
+
+            return realloc;
+        }
+
+        public bool EnsureCapacity(int min)
+        {
+            if (min >= m_Capacity || !isCreated)
+            {
+                ChangeCapacity(min * 2);
+                return true;
+            }
+            return false;
+        }
+
+        public void WipeToZero()
+        {
+            unsafe
+            {
+                if (isCreated)
+                {
+                    UnsafeUtility.MemClear(m_AlignedPtr, count * m_Stride);
+
+                    computeBufferDirty = true;
+                }
+            }
+        }
+
+        public void WipeToValue(T value)
+        {
+            unsafe
+            {
+                if (isCreated)
+                {
+                    void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+                    UnsafeUtility.MemCpyReplicate(m_AlignedPtr, sourceAddress, m_Stride, count);
+
+                    computeBufferDirty = true;
+                }
+            }
+        }
+
+        public override string ToString()
+        {
+            StringBuilder sb = new StringBuilder();
+            sb.Append('[');
+
+            for (int t = 0; t < m_Count; t++)
+            {
+                sb.Append(this[t].ToString());
+
+                if (t < (m_Count - 1)) sb.Append(',');
+
+            }
+            sb.Append(']');
+            return sb.ToString();
+        }
+
+        public void* AddressOfElement(int index)
+        {
+            return (void*) ((byte*)m_AlignedPtr + m_Stride * index);
+        }
+
+        public IntPtr GetIntPtr()
+        {
+            if (isCreated)
+                return new IntPtr(m_AlignedPtr);
+            return IntPtr.Zero;
+        }
+
+        public void Swap(int index1, int index2)
+        {
+            // check to avoid out of bounds access:
+            if (index1 >= 0 && index1 < count && index2 >= 0 && index2 < count)
+            {
+                var aux = this[index1];
+                this[index1] = this[index2];
+                this[index2] = aux;
+            }
+        }
+
+        public IEnumerator<T> GetEnumerator()
+        {
+            for (int i = 0; i < count; ++i)
+            {
+                yield return this[i];
+            }
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return this.GetEnumerator();
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta
new file mode 100644
index 00000000..6bfb7bb8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be1183504e86c409d97f706fcfcb0b3f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
new file mode 100644
index 00000000..64cffb4d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
@@ -0,0 +1,23 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeMatrix4x4List : ObiNativeList<Matrix4x4>
+    {
+        public ObiNativeMatrix4x4List() { } // TODO: WTF???? why does this prevent a crash?
+        public ObiNativeMatrix4x4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Matrix4x4.identity;
+        }
+
+        public ObiNativeMatrix4x4List(int capacity, int alignment, Matrix4x4 defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
new file mode 100644
index 00000000..c9005425
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 57e079b439b8f4d71966919ca4fa4838
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs
new file mode 100644
index 00000000..c8552ff3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs
@@ -0,0 +1,24 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQuaternionList : ObiNativeList<Quaternion>
+    {
+        public ObiNativeQuaternionList() { }
+        public ObiNativeQuaternionList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Quaternion.identity;
+        }
+
+        public ObiNativeQuaternionList(int capacity, int alignment, Quaternion defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta
new file mode 100644
index 00000000..c60a0807
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6bad311b87fb6408793370e029c1d625
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs
new file mode 100644
index 00000000..d82e9de0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQueryResultList : ObiNativeList<QueryResult>
+    {
+
+        public ObiNativeQueryResultList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new QueryResult();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta
new file mode 100644
index 00000000..694b63a3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 415658bfe3b0f45c285a26d383086a70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs
new file mode 100644
index 00000000..c7aa54f7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQueryShapeList : ObiNativeList<QueryShape>
+    {
+
+        public ObiNativeQueryShapeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new QueryShape();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta
new file mode 100644
index 00000000..c148868c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a1b44ba5a49564f81bc8eeebbee71cf3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs
new file mode 100644
index 00000000..221ff10f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeRigidbodyList : ObiNativeList<ColliderRigidbody>
+    {
+        public ObiNativeRigidbodyList() { }
+        public ObiNativeRigidbodyList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ColliderRigidbody();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta
new file mode 100644
index 00000000..d5811a35
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 28ae021335a854c3eb91c500cd4c77b6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs
new file mode 100644
index 00000000..6fd173aa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeTriangleList : ObiNativeList<Triangle>
+    {
+        public ObiNativeTriangleList() { }
+        public ObiNativeTriangleList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Triangle();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta
new file mode 100644
index 00000000..6c43dfc5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0eda4a24fce5949d284395fe3a782477
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs
new file mode 100644
index 00000000..ed34c97b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeTriangleMeshHeaderList : ObiNativeList<TriangleMeshHeader>
+    {
+        public ObiNativeTriangleMeshHeaderList() { }
+        public ObiNativeTriangleMeshHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new TriangleMeshHeader();
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta
new file mode 100644
index 00000000..f0ba2517
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b7289725194bb4368a4ac8e6cd9a7062
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs
new file mode 100644
index 00000000..542f40f3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeUIntList : ObiNativeList<uint>
+    {
+
+        public ObiNativeUIntList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = 0;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta
new file mode 100644
index 00000000..b6f26ce3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cee276900c5ce412aafe4e23112537eb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs
new file mode 100644
index 00000000..94f9c6b5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector2List : ObiNativeList<Vector2>
+    {
+        public ObiNativeVector2List() { }
+        public ObiNativeVector2List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector2.zero;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta
new file mode 100644
index 00000000..f62d13ea
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 097972b931df946398eb40913011ada0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs
new file mode 100644
index 00000000..4fb3b000
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector3List : ObiNativeList<Vector3>
+    {
+        public ObiNativeVector3List() { }
+        public ObiNativeVector3List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector3.zero;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta
new file mode 100644
index 00000000..c14bf94e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fb8db19bcf3ce468786ed448ea6821d4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs
new file mode 100644
index 00000000..2f72c638
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs
@@ -0,0 +1,36 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector4List : ObiNativeList<Vector4>
+    {
+        public ObiNativeVector4List() { }
+        public ObiNativeVector4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector4.zero;
+        }
+
+
+        public Vector3 GetVector3(int index)
+        {
+            unsafe
+            {
+                byte* start = (byte*)m_AlignedPtr + index * sizeof(Vector4);
+                return *(Vector3*)start;
+            }
+        }
+
+        public void SetVector3(int index, Vector3 value)
+        {
+            unsafe
+            {
+                byte* start = (byte*)m_AlignedPtr + index * sizeof(Vector4);
+                *(Vector3*)start = value;
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta
new file mode 100644
index 00000000..681b0b72
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7a1016daf70074bd790b5a278c314263
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
new file mode 100644
index 00000000..6c7b86aa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
@@ -0,0 +1,165 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Custom IList implementation that allows access to the underlying raw array, for efficient C++ interop. Also
+	 * includes some auxiliar methods that make it easier and faster to send data back and forth between C# and C++, as
+     * well as deal with accesing the contents of the list directly without a copy.
+	 */
+	public class ObiList<T> : IList<T>
+	{
+		private T[] data = new T[16];
+		private int count = 0;
+	
+	    #region Implementation of IEnumerable
+	
+	    public IEnumerator<T> GetEnumerator()
+	    {
+			for (int i = 0; i < count;++i)
+				yield return data[i];
+	    }
+	
+	    IEnumerator IEnumerable.GetEnumerator()
+	    {
+	        return GetEnumerator();
+	    }
+	
+	    #endregion
+	
+	    #region Implementation of ICollection<T>
+	
+	    public void Add(T item)
+	    {
+            EnsureCapacity(count + 1);
+            data[count++] = item;
+	    }
+	
+	    public void Clear()
+	    {
+			count = 0;
+	    }
+	
+	    public bool Contains(T item)
+	    {
+			for (int i = 0; i < count; ++i)
+				if (data[i].Equals(item)) 
+					return true;
+			return false;
+	    }
+	
+	    public void CopyTo(T[] array, int arrayIndex)
+	    {
+			if (array == null)
+				throw new ArgumentNullException();
+
+			if (array.Length-arrayIndex < count)
+				throw new ArgumentException();
+
+			Array.Copy(data,0,array,arrayIndex,count);
+	    }
+	
+	    public bool Remove(T item)
+	    {
+			bool found = false;
+			for (int i = 0; i < count; ++i)
+			{
+				// Look for the element, and mark it as found.
+				if (!found && data[i].Equals(item))
+					found = true;
+				
+				//If we found the element and are not at the last element, displace the element 1 position backwards.
+				if (found && i < count-1)
+				{
+					data[i] = data[i+1];
+				}
+			}	
+
+			// If we found and removed the element, reduce the element count by 1.
+			if (found)
+				count--;
+
+			return found;		
+	    }
+	
+	    public int Count
+	    {
+	        get { return count; }
+	    }
+	
+	    public bool IsReadOnly
+	    {
+			get { return false; }
+	    }
+	
+	    #endregion
+	
+	    #region Implementation of IList<T>
+	
+	    public int IndexOf(T item)
+	    {
+			return Array.IndexOf(data,item);
+	    }
+	
+	    public void Insert(int index, T item)
+	    {
+			if (index < 0 || index > count)
+				throw new ArgumentOutOfRangeException();
+
+			EnsureCapacity(++count);
+
+	        for (int i = count-1; i > index; --i)
+			{
+				data[i] = data[i-1];
+			}
+
+			data[index] = item;
+	    }
+	
+	    public void RemoveAt(int index)
+	    {
+			for (int i = index; i < count; ++i)
+			{
+				if (i < count-1)
+				{
+					data[i] = data[i+1];
+				}
+			}	
+
+			count--;
+	    }
+	
+	    public T this[int index]
+	    {
+	        get { return data[index]; }
+	        set { data[index] = value; }
+	    }
+	
+	    #endregion
+	
+	    #region Added stuff
+	
+		public T[] Data{
+			get{return data;}
+		}
+
+		/**
+		 * Ensures a minimal capacity of count elements, then sets the new count. Useful when passing the backing array to C++
+		 * for being filled with new data.
+		 */
+		public void SetCount(int count){
+			EnsureCapacity(count);
+			this.count = count;
+		}
+
+		public void EnsureCapacity(int capacity){	
+			if (capacity >= data.Length)
+				Array.Resize(ref data,capacity*2);
+		}
+	
+	    #endregion
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta
new file mode 100644
index 00000000..c47f6adc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta
@@ -0,0 +1,12 @@
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+guid: d8100b324be8f46cc9578fd52193a876
+timeCreated: 1513467715
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs
new file mode 100644
index 00000000..18ab9f1f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs
@@ -0,0 +1,24 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public struct ParticlePair
+    {
+        public int first;
+        public int second;
+
+        public ParticlePair(int first, int second)
+        {
+            this.first = first;
+            this.second = second;
+        }
+
+        public int this[int index]
+        {
+            get { return index == 0 ? first : second; }
+            set { if (index == 0) first = value; else second = value; }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta
new file mode 100644
index 00000000..03bca088
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries.meta
new file mode 100644
index 00000000..a8d87e4f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries.meta
@@ -0,0 +1,8 @@
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+folderAsset: yes
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+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
new file mode 100644
index 00000000..72245ed7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
@@ -0,0 +1,17 @@
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential, Size = 64)]
+    public struct QueryResult
+    {
+        public Vector4 simplexBary;    /**< Barycentric coords of nearest point in simplex  */
+        public Vector4 queryPoint;     /**< Nearest point in query shape*/
+        public Vector4 normal;         /**< Closest direction between simplex and query shape. */
+        public float distance;         /**< Distance between simplex and query shape.*/
+        public float distanceAlongRay; /**< For ray queries, distance along the ray.*/
+        public int simplexIndex;       /**< Index of the simplex in the solver.*/
+        public int queryIndex;         /**< Index of the query that spawned this result.*/
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta
new file mode 100644
index 00000000..7420cabf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta
@@ -0,0 +1,11 @@
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+guid: a2effdf7f81654462ac5af1735de92eb
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs
new file mode 100644
index 00000000..a035e46c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs
@@ -0,0 +1,36 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct QueryShape
+    {
+        public enum QueryType
+        {
+            Sphere = 0,
+            Box = 1,
+            Ray = 2,
+        }
+
+        public Vector4 center;      /**<  box: center of the box in solver space.
+                                          sphere: center of the sphere in solver space,.
+                                          ray: start of the ray in solver space.*/
+
+        public Vector4 size;     /**<     box: size of the box in each axis.
+                                          sphere: radius of sphere (x,y,z),
+                                          ray: end of the line segment in solver space.*/
+        public QueryType type;
+        public float contactOffset;
+        public float maxDistance;          // minimum distance around the shape to look for.
+        public int filter;
+
+        public QueryShape(QueryType type, Vector3 center, Vector3 size, float contactOffset, float distance, int filter)
+        {
+            this.type = type;
+            this.center = center;
+            this.size = size;
+            this.contactOffset = contactOffset;
+            this.maxDistance = distance;
+            this.filter = filter;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta
new file mode 100644
index 00000000..7276f449
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta
new file mode 100644
index 00000000..c9ad98ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2c4a05fed09dd4e9e9d346fa3f1ccd55
+folderAsset: yes
+DefaultImporter:
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs
new file mode 100644
index 00000000..5b92932f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs
@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class RegularGrid<T>
+    {
+        private Dictionary<Vector3Int, List<T>> gridMap = new Dictionary<Vector3Int, List<T>>();
+        private float cellSize;
+        private Func<T, Vector3> getPosition;
+
+        public RegularGrid(float cellSize, Func<T, Vector3> getPosition)
+        {
+            this.cellSize = cellSize;
+
+            if (getPosition != null)
+                this.getPosition = getPosition;
+            else
+                getPosition = (x) => { return Vector3.zero; };
+        }
+
+        public Vector3Int GetCellCoords(Vector3 pos)
+        {
+            return new Vector3Int(Mathf.FloorToInt(pos.x / cellSize),
+                                  Mathf.FloorToInt(pos.y / cellSize),
+                                  Mathf.FloorToInt(pos.z / cellSize));
+        }
+
+        public void AddElement(T elm)
+        {
+            var coords = GetCellCoords(getPosition(elm));
+            if (gridMap.TryGetValue(coords, out List<T> cell))
+                cell.Add(elm);
+            else
+                gridMap[coords] = new List<T> { elm };
+        }
+
+        public bool RemoveElement(T elm)
+        {
+            var coords = GetCellCoords(getPosition(elm));
+            if (gridMap.TryGetValue(coords, out List<T> cell))
+            {
+                return cell.Remove(elm);
+            }
+            return false;
+        }
+
+        public IEnumerable<T> GetNeighborsEnumerator(T elm)
+        {
+            // if cells are infinitesimaly small,
+            // elements should have no neighbors.
+            if (cellSize < ObiUtils.epsilon)
+                yield break;
+
+            var position = getPosition(elm);
+            var coords = GetCellCoords(position);
+            List<T> cell;
+
+            for (int x = -1; x <= 1; ++x)
+                for (int y = -1; y <= 1; ++y)
+                    for (int z = -1; z <= 1; ++z)
+                    {
+                        if (gridMap.TryGetValue(coords + new Vector3Int(x,y,z), out cell))
+                        {
+                            foreach(T n in cell)
+                            {
+                                if (n.Equals(elm))
+                                    continue;
+
+                                float dist = Vector3.Distance(position, getPosition(n));
+                                if (dist <= cellSize)
+                                    yield return n;
+                            }
+                        }
+                    }
+        }
+
+        // TODO: single call passing position and element to ignore.
+        public IEnumerable<T> GetNeighborsEnumerator(Vector3 position)
+        {
+            // if cells are infinitesimaly small,
+            // elements should have no neighbors.
+            if (cellSize < ObiUtils.epsilon)
+                yield break;
+
+            var coords = GetCellCoords(position);
+            List<T> cell;
+
+            for (int x = -1; x <= 1; ++x)
+                for (int y = -1; y <= 1; ++y)
+                    for (int z = -1; z <= 1; ++z)
+                    {
+                        if (gridMap.TryGetValue(coords + new Vector3Int(x, y, z), out cell))
+                        {
+                            foreach (T n in cell)
+                            {
+                                float dist = Vector3.Distance(position, getPosition(n));
+                                if (dist <= cellSize)
+                                    yield return n;
+                            }
+                        }
+                    }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta
new file mode 100644
index 00000000..96fcea3b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9506e58093a7c491f944e8e74529bf74
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
new file mode 100644
index 00000000..f2adcf1e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
@@ -0,0 +1,46 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public struct SimplexCounts
+    {
+        public int pointCount;
+        public int edgeCount;
+        public int triangleCount;
+
+        public int simplexCount
+        {
+            get { return pointCount + edgeCount + triangleCount; }
+        }
+
+        public SimplexCounts(int pointCount, int edgeCount, int triangleCount)
+        {
+            this.pointCount = pointCount;
+            this.edgeCount = edgeCount;
+            this.triangleCount = triangleCount;
+        }
+
+        public int GetSimplexStartAndSize(int index, out int size)
+        {
+            if (index < triangleCount)
+            {
+                size = 3;
+                return index * 3;
+            }
+            else if (index < triangleCount + edgeCount)
+            {
+                size = 2;
+                return triangleCount * 3 + (index - triangleCount) * 2;
+            }
+            else if (index < simplexCount)
+            {
+                size = 1;
+                return triangleCount * 3 + edgeCount * 2 + (index - triangleCount - edgeCount);
+            }
+            size = 0;
+            return 0;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta
new file mode 100644
index 00000000..f4cb6746
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4a445a209f673411391c60adfe8b4766
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
new file mode 100644
index 00000000..c0f3bc17
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
@@ -0,0 +1,41 @@
+using System;
+using System.Runtime.InteropServices;
+
+#if (OBI_MATHEMATICS)
+using Unity.Mathematics;
+#endif
+
+
+namespace Obi
+{
+    [Serializable]
+    [StructLayout(LayoutKind.Sequential)]
+    public struct VInt4
+    {
+        public int x;
+        public int y;
+        public int z;
+        public int w;
+
+        public VInt4(int x, int y, int z, int w)
+        {
+            this.x = x;
+            this.y = y;
+            this.z = z;
+            this.w = w;
+        }
+
+        public VInt4(int x)
+        {
+            this.x = x;
+            this.y = x;
+            this.z = x;
+            this.w = x;
+        }
+
+#if (OBI_MATHEMATICS)
+        public static implicit operator VInt4(int4 i) => new VInt4(i.x, i.y, i.z, i.w);
+        public static implicit operator int4(VInt4 i) => new int4(i.x, i.y, i.z, i.w);
+#endif
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta
new file mode 100644
index 00000000..b3084818
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4509cf294c582479790fe1d6307b218c
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta
new file mode 100644
index 00000000..a9e8fd40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta
@@ -0,0 +1,8 @@
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+guid: dfdbb639033814f7c94f5ad7f5bdb809
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+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
new file mode 100644
index 00000000..f68ae0b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
@@ -0,0 +1,607 @@
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+     * Helper class that voxelizes a mesh.
+     */
+    [Serializable]
+    public class MeshVoxelizer
+    {
+        [Flags]
+        public enum Voxel
+        {
+            Empty = 0,
+            Inside = 1 << 0,
+            Boundary = 1 << 1,
+            Outside = 1 << 2,
+        }
+
+        public readonly static Vector3Int[] fullNeighborhood =
+        {
+            // face neighbors: 
+            new Vector3Int(-1,0,0),
+            new Vector3Int(1,0,0),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1),
+
+            // edge neighbors:
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0),
+
+            // vertex neighbors:
+            new Vector3Int(-1,-1,-1),
+            new Vector3Int(-1,-1,1),
+            new Vector3Int(-1,1,-1),
+            new Vector3Int(-1,1,1),
+            new Vector3Int(1,-1,-1),
+            new Vector3Int(1,-1,1),
+            new Vector3Int(1,1,-1),
+            new Vector3Int(1,1,1)
+        };
+
+        public readonly static Vector3Int[] edgefaceNeighborhood =
+        {
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,0),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,0),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0)
+        };
+
+        public readonly static Vector3Int[] faceNeighborhood =
+        {
+            new Vector3Int(-1,0,0),
+            new Vector3Int(1,0,0),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1)
+        };
+
+        public readonly static Vector3Int[] edgeNeighborhood =
+        {
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0)
+        };
+
+        public readonly static Vector3Int[] vertexNeighborhood =
+        {
+            new Vector3Int(-1,-1,-1),
+            new Vector3Int(-1,-1,1),
+            new Vector3Int(-1,1,-1),
+            new Vector3Int(-1,1,1),
+            new Vector3Int(1,-1,-1),
+            new Vector3Int(1,-1,1),
+            new Vector3Int(1,1,-1),
+            new Vector3Int(1,1,1)
+        };
+
+        [NonSerialized] public Mesh input;
+
+        [HideInInspector][SerializeField] private Voxel[] voxels;
+        public float voxelSize;
+        public Vector3Int resolution;
+
+        private List<int>[] triangleIndices; // temporary structure to hold triangles overlapping each voxel.
+        private Vector3Int origin;
+
+        public Vector3Int Origin
+        {
+            get { return origin; }
+        }
+
+        public int voxelCount
+        {
+            get { return resolution.x * resolution.y * resolution.z; }
+        }
+
+        public MeshVoxelizer(Mesh input, float voxelSize)
+        {
+            this.input = input;
+            this.voxelSize = voxelSize;
+        }
+
+        public Voxel this[int x, int y, int z]
+        {
+            get { return voxels[GetVoxelIndex(x, y, z)]; }
+            set { voxels[GetVoxelIndex(x, y, z)] = value; }
+        }
+
+        public float GetDistanceToNeighbor(int i)
+        {
+            if (i > 17) return ObiUtils.sqrt3 * voxelSize;
+            if (i > 5) return ObiUtils.sqrt2 * voxelSize;
+            return voxelSize;
+        }
+
+        public int GetVoxelIndex(int x, int y, int z)
+        {
+            return x + resolution.x * (y + resolution.y * z);
+        }
+
+        public Vector3 GetVoxelCenter(in Vector3Int coords)
+        {
+            return new Vector3(Origin.x + coords.x + 0.5f,
+                               Origin.y + coords.y + 0.5f,
+                               Origin.z + coords.z + 0.5f) * voxelSize;
+        }
+
+        private Bounds GetTriangleBounds(in Vector3 v1, in Vector3 v2, in Vector3 v3)
+        {
+            Bounds b = new Bounds(v1, Vector3.zero);
+            b.Encapsulate(v2);
+            b.Encapsulate(v3);
+            return b;
+        }
+
+        public List<int> GetTrianglesOverlappingVoxel(int voxelIndex)
+        {
+            if (voxelIndex >= 0 && voxelIndex < triangleIndices.Length)
+                return triangleIndices[voxelIndex];
+            return null;
+        }
+
+        public Vector3Int GetPointVoxel(in Vector3 point)
+        {
+            return new Vector3Int(Mathf.FloorToInt(point.x / voxelSize),
+                                  Mathf.FloorToInt(point.y / voxelSize),
+                                  Mathf.FloorToInt(point.z / voxelSize));
+        }
+
+        public bool VoxelExists(in Vector3Int coords)
+        {
+            return VoxelExists(coords.x, coords.y, coords.z);
+        }
+
+        public bool VoxelExists(int x, int y, int z)
+        {
+            return x >= 0 && y >= 0 && z >= 0 &&
+                   x < resolution.x &&
+                   y < resolution.y &&
+                   z < resolution.z;
+        }
+
+        private void AppendOverlappingVoxels(in Bounds bounds, in Vector3 v1, in Vector3 v2, in Vector3 v3, int triangleIndex)
+        {
+
+            Vector3Int min = GetPointVoxel(bounds.min);
+            Vector3Int max = GetPointVoxel(bounds.max);
+
+            for (int x = min.x; x <= max.x; ++x)
+                for (int y = min.y; y <= max.y; ++y)
+                    for (int z = min.z; z <= max.z; ++z)
+                    {
+                        Bounds voxel = new Bounds(new Vector3(x + 0.5f, y + 0.5f, z + 0.5f) * voxelSize, Vector3.one * voxelSize);
+
+                        if (IsIntersecting(voxel, v1, v2, v3))
+                        {
+                            int index = GetVoxelIndex(x - origin.x, y - origin.y, z - origin.z);
+                            voxels[index] = Voxel.Boundary;
+
+                            if (triangleIndices != null)
+                                triangleIndices[index].Add(triangleIndex);
+                        }
+                    }
+        }
+
+
+        public IEnumerator Voxelize(Matrix4x4 transform, bool generateTriangleIndices = false)
+        {
+            voxelSize = Mathf.Max(0.0001f, voxelSize);
+
+            var xfBounds = input.bounds.Transform(transform);
+
+            // Calculate min and max voxels, adding a 1-voxel margin.
+            origin = GetPointVoxel(xfBounds.min) - new Vector3Int(1, 1, 1);
+            Vector3Int max = GetPointVoxel(xfBounds.max) + new Vector3Int(1, 1, 1); 
+
+            resolution = new Vector3Int(max.x - origin.x + 1, max.y - origin.y + 1, max.z - origin.z + 1);
+
+            // Allocate voxels array, and initialize them to "inside" the mesh:
+            voxels = new Voxel[resolution.x * resolution.y * resolution.z];
+
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        this[x, y, z] = Voxel.Inside;
+
+            // Allocate triangle lists:
+            if (generateTriangleIndices)
+            {
+                triangleIndices = new List<int>[voxels.Length];
+                for (int i = 0; i < triangleIndices.Length; ++i)
+                    triangleIndices[i] = new List<int>(4);
+            }
+            else
+                triangleIndices = null;
+
+            // Get input triangles and vertices:
+            int[] triIndices = input.triangles;
+            Vector3[] vertices = input.vertices;
+
+            // Generate surface voxels:
+            for (int i = 0; i < triIndices.Length; i += 3)
+            {
+                Vector3 v1 = transform.MultiplyPoint3x4(vertices[triIndices[i]]);
+                Vector3 v2 = transform.MultiplyPoint3x4(vertices[triIndices[i + 1]]);
+                Vector3 v3 = transform.MultiplyPoint3x4(vertices[triIndices[i + 2]]);
+
+                Bounds triBounds = GetTriangleBounds(v1, v2, v3);
+
+                AppendOverlappingVoxels(triBounds, v1, v2, v3, i/3);
+
+                if (i % 150 == 0)
+                    yield return new CoroutineJob.ProgressInfo("Voxelizing mesh...", i / (float)triIndices.Length);
+            }
+
+            // Flood fill outside the mesh. This deals with multiple disjoint regions, and non-watertight models.
+            var fillCoroutine = FloodFill();
+            while (fillCoroutine.MoveNext())
+                yield return fillCoroutine.Current;
+        }
+
+        // Ensures boundary is only one voxel thick.
+        public void BoundaryThinning()
+        {
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                            this[x, y, z] = Voxel.Inside;
+
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                    {
+                        int sum = 0;
+                        for (int j = 0; j < faceNeighborhood.Length; ++j)
+                        {
+                            var index = faceNeighborhood[j];
+                            if (VoxelExists(index.x + x, index.y + y, index.z + z) && this[index.x + x, index.y + y, index.z + z] != Voxel.Outside)
+                            {
+                                sum++;
+                            }
+                        }
+
+                        if (sum % faceNeighborhood.Length != 0 && this[x, y, z] == Voxel.Inside) 
+                            this[x, y, z] = Voxel.Boundary;
+                    }
+        }
+
+        public void CreateMesh(ref Mesh mesh, int smoothingIterations)
+        {
+            if (mesh == null)
+                mesh = new Mesh();
+
+            mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
+            mesh.Clear();
+            List<Vector3> vertices = new List<Vector3>();
+            List<Vector3> vertices2 = new List<Vector3>();
+            List<int> tris = new List<int>();
+            vertices.Clear();
+            vertices2.Clear();
+            tris.Clear();
+
+            int[] vtxIndex = new int[voxelCount];
+            for (int i = 0; i < vtxIndex.Length; ++i)
+                vtxIndex[i] = -1;
+
+            // create vertices:
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                        {
+                            vtxIndex[GetVoxelIndex(x, y, z)] = vertices.Count;
+                            var vtx = new Vector3(Origin.x + x + 0.5f, Origin.y + y + 0.5f, Origin.z + z + 0.5f) * voxelSize;
+                            vertices.Add(vtx);
+                            vertices2.Add(vtx);
+                        }
+
+            List<Vector3> inputVertices = vertices;
+            List<Vector3> outputVertices = vertices2;
+            for (int i = 0; i < smoothingIterations; ++i)
+            {
+                for (int x = 0; x < resolution.x; ++x)
+                    for (int y = 0; y < resolution.y; ++y)
+                        for (int z = 0; z < resolution.z; ++z)
+                            if (this[x, y, z] == Voxel.Boundary)
+                            {
+                                Vector3 avg = Vector3.zero;
+
+                                int count = 0;
+                                for (int j = 0; j < faceNeighborhood.Length; ++j)
+                                {
+                                    var index = faceNeighborhood[j];
+                                    if (VoxelExists(index.x + x, index.y + y, index.z + z) && this[index.x + x, index.y + y, index.z + z] == Voxel.Boundary)
+                                    {
+                                        avg += inputVertices[vtxIndex[GetVoxelIndex(index.x + x, index.y + y, index.z + z)]];
+                                        count++;
+                                    }
+                                }
+
+                                if (count > 0)
+                                    outputVertices[vtxIndex[GetVoxelIndex(x, y, z)]] = avg / count;
+                            }
+
+                var aux = inputVertices;
+                inputVertices = outputVertices;
+                outputVertices = aux;
+            }
+
+            // triangulate
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                        {
+                            int x0y0z0 = GetVoxelIndex(x, y, z);
+
+                            int x1y0z0 = VoxelExists(x + 1, y, z) ? GetVoxelIndex(x+1, y, z) : -1;
+                            int x1y1z0 = VoxelExists(x + 1, y + 1, z) ? GetVoxelIndex(x+1, y+1, z) : -1;
+                            int x0y1z0 = VoxelExists(x, y + 1, z) ? GetVoxelIndex(x, y+1, z) : -1;
+
+                            int x0y0z1 = VoxelExists(x, y, z + 1) ? GetVoxelIndex(x, y , z + 1) : -1;
+                            int x0y1z1 = VoxelExists(x, y + 1, z + 1) ? GetVoxelIndex(x, y + 1, z + 1) : -1;
+                            int x1y0z1 = VoxelExists(x + 1, y, z + 1) ? GetVoxelIndex(x+1, y, z + 1) : -1;
+
+                            int x1y1z1 = VoxelExists(x + 1, y + 1, z + 1) ? GetVoxelIndex(x + 1, y + 1, z + 1) : -1;
+
+                            // XY plane
+                            if (x1y0z0 >= 0 && x1y1z0 >= 0 && x0y1z0 >= 0 &&
+                                voxels[x1y0z0] == Voxel.Boundary &&
+                                voxels[x1y1z0] == Voxel.Boundary &&
+                                voxels[x0y1z0] == Voxel.Boundary)
+                            {
+                                if (x0y1z1 < 0 || voxels[x0y1z1] == Voxel.Outside ||
+                                    x0y0z1 < 0 || voxels[x0y0z1] == Voxel.Outside ||
+                                    x1y0z1 < 0 || voxels[x1y0z1] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x1y1z0]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x1y1z0]);
+                                }
+                            }
+
+                            // XZ plane
+                            if (x1y0z0 >= 0 && x1y0z1 >= 0 && x0y0z1 >= 0 &&
+                                voxels[x1y0z0] == Voxel.Boundary &&
+                                voxels[x1y0z1] == Voxel.Boundary &&
+                                voxels[x0y0z1] == Voxel.Boundary)
+                            {
+                                if (x0y1z0 < 0 || voxels[x0y1z0] == Voxel.Outside ||
+                                    x0y1z1 < 0 || voxels[x0y1z1] == Voxel.Outside ||
+                                    x1y1z0 < 0 || voxels[x1y1z0] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x1y0z1]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x1y0z1]);
+                                }
+                            }
+
+                            // XY plane
+                            if (x0y0z1 >= 0 && x0y1z1 >= 0 && x0y1z0 >= 0 &&
+                                voxels[x0y0z1] == Voxel.Boundary &&
+                                voxels[x0y1z1] == Voxel.Boundary &&
+                                voxels[x0y1z0] == Voxel.Boundary)
+                            {
+                                if (x1y0z0 < 0 || voxels[x1y0z0] == Voxel.Outside ||
+                                    x1y0z1 < 0 || voxels[x1y0z1] == Voxel.Outside ||
+                                    x1y1z0 < 0 || voxels[x1y1z0] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x0y1z1]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z1]);
+                                }
+                            }
+                        }
+
+            mesh.SetVertices(outputVertices);
+            mesh.SetIndices(tris, MeshTopology.Triangles, 0);
+            mesh.RecalculateNormals();
+        }
+
+        private IEnumerator FloodFill()
+        {
+            Queue<Vector3Int> queue = new Queue<Vector3Int>();
+            queue.Enqueue(new Vector3Int(0, 0, 0));
+
+            this[0, 0, 0] = Voxel.Outside;
+
+            int i = 0;
+            while (queue.Count > 0)
+            {
+                Vector3Int c = queue.Dequeue();
+                Vector3Int v;
+
+                if (c.x < resolution.x - 1 && this[c.x + 1, c.y, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x + 1, c.y, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.x > 0 && this[c.x - 1, c.y, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x - 1, c.y, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.y < resolution.y - 1 && this[c.x, c.y + 1, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y + 1, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.y > 0 && this[c.x, c.y - 1, c.z] == Voxel.Inside )
+                {
+                    v = new Vector3Int(c.x, c.y - 1, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+
+                if (c.z < resolution.z - 1 && this[c.x, c.y, c.z + 1] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y, c.z + 1);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.z > 0 && this[c.x, c.y, c.z - 1] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y, c.z - 1);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+
+                if (++i % 150 == 0)
+                    yield return new CoroutineJob.ProgressInfo("Filling mesh...", i / (float)voxels.Length);
+            }
+        }
+
+        public static bool IsIntersecting(in Bounds box, Vector3 v1, Vector3 v2, Vector3 v3)
+        {
+            v1 -= box.center;
+            v2 -= box.center;
+            v3 -= box.center;
+
+            var ab = v2 - v1;
+            var bc = v3 - v2;
+            var ca = v1 - v3;
+
+            //cross with (1, 0, 0)
+            var a00 = new Vector3(0, -ab.z, ab.y);
+            var a01 = new Vector3(0, -bc.z, bc.y);
+            var a02 = new Vector3(0, -ca.z, ca.y);
+
+            //cross with (0, 1, 0)
+            var a10 = new Vector3(ab.z, 0, -ab.x);
+            var a11 = new Vector3(bc.z, 0, -bc.x);
+            var a12 = new Vector3(ca.z, 0, -ca.x);
+
+            //cross with (0, 0, 1)
+            var a20 = new Vector3(-ab.y, ab.x, 0);
+            var a21 = new Vector3(-bc.y, bc.x, 0);
+            var a22 = new Vector3(-ca.y, ca.x, 0);
+
+            if (
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a00) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a01) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a02) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a10) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a11) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a12) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a20) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a21) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a22) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.right) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.up) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.forward) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.Cross(ab, bc))
+            )
+                return false;
+
+            return true;
+        }
+
+        static bool TriangleAabbSATTest(in Vector3 v0, in Vector3 v1, in Vector3 v2, in Vector3 aabbExtents, in Vector3 axis)
+        {
+            float p0 = Vector3.Dot(v0, axis);
+            float p1 = Vector3.Dot(v1, axis);
+            float p2 = Vector3.Dot(v2, axis);
+
+            float r = aabbExtents.x * Mathf.Abs(axis.x) +
+                      aabbExtents.y * Mathf.Abs(axis.y) +
+                      aabbExtents.z * Mathf.Abs(axis.z);
+
+            float maxP = Mathf.Max(p0, Mathf.Max(p1, p2));
+            float minP = Mathf.Min(p0, Mathf.Min(p1, p2));
+
+            return !(Mathf.Max(-maxP, minP) > r);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta
new file mode 100644
index 00000000..3feb9ced
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d719a609a88a842d8b4a10db447a627c
+timeCreated: 1521796043
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs
new file mode 100644
index 00000000..63c1b3dc
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs
@@ -0,0 +1,101 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    // From https://visualstudiomagazine.com/articles/2012/11/01/priority-queues-with-c.aspx
+    public class PriorityQueue<T> where T : IComparable<T>
+    {
+        public List<T> data;
+
+        public PriorityQueue()
+        {
+            this.data = new List<T>();
+        }
+
+        public void Enqueue(T item)
+        {
+            data.Add(item);
+            int ci = data.Count - 1; // child index; start at end
+            while (ci > 0)
+            {
+                int pi = (ci - 1) / 2; // parent index
+                if (data[ci].CompareTo(data[pi]) >= 0) break; // child item is larger than (or equal) parent so we're done
+                T tmp = data[ci]; data[ci] = data[pi]; data[pi] = tmp;
+                ci = pi;
+            }
+        }
+
+        public T Dequeue()
+        {
+            // assumes pq is not empty; up to calling code
+            int li = data.Count - 1; // last index (before removal)
+            T frontItem = data[0];   // fetch the front
+            data[0] = data[li];
+            data.RemoveAt(li);
+
+            --li; // last index (after removal)
+            int pi = 0; // parent index. start at front of pq
+            while (true)
+            {
+                int ci = pi * 2 + 1; // left child index of parent
+                if (ci > li) break;  // no children so done
+                int rc = ci + 1;     // right child
+                if (rc <= li && data[rc].CompareTo(data[ci]) < 0) // if there is a rc (ci + 1), and it is smaller than left child, use the rc instead
+                    ci = rc;
+                if (data[pi].CompareTo(data[ci]) <= 0) break; // parent is smaller than (or equal to) smallest child so done
+                T tmp = data[pi]; data[pi] = data[ci]; data[ci] = tmp; // swap parent and child
+                pi = ci;
+            }
+            return frontItem;
+        }
+
+        public T Peek()
+        {
+            T frontItem = data[0];
+            return frontItem;
+        }
+
+        public IEnumerable<T> GetEnumerator()
+        {
+            for (int i = 0; i < data.Count; ++i)
+                yield return data[i];
+        }
+
+        public void Clear()
+        {
+            data.Clear();
+        }
+
+        public int Count()
+        {
+            return data.Count;
+        }
+
+        public override string ToString()
+        {
+            string s = "";
+            for (int i = 0; i < data.Count; ++i)
+                s += data[i].ToString() + " ";
+            s += "count = " + data.Count;
+            return s;
+        }
+
+        public bool IsConsistent()
+        {
+            // is the heap property true for all data?
+            if (data.Count == 0) return true;
+            int li = data.Count - 1; // last index
+            for (int pi = 0; pi < data.Count; ++pi) // each parent index
+            {
+                int lci = 2 * pi + 1; // left child index
+                int rci = 2 * pi + 2; // right child index
+
+                if (lci <= li && data[pi].CompareTo(data[lci]) > 0) return false; // if lc exists and it's greater than parent then bad.
+                if (rci <= li && data[pi].CompareTo(data[rci]) > 0) return false; // check the right child too.
+            }
+            return true; // passed all checks
+        } 
+    } 
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta
new file mode 100644
index 00000000..5b691875
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df456c360bde341bca8e2bfd472e9bcb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
new file mode 100644
index 00000000..8484fbfd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
@@ -0,0 +1,190 @@
+using System.Collections;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+     * Generates a sparse distance field from a voxel representation of a mesh.
+     */
+    public class VoxelDistanceField
+    {
+        public Vector3Int[,,] distanceField; // for each coordinate, stores coordinates of closest surface voxel.
+
+        private MeshVoxelizer voxelizer;
+
+        public VoxelDistanceField(MeshVoxelizer voxelizer)
+        {
+            this.voxelizer = voxelizer;
+        }
+
+        public float SampleUnfiltered(int x, int y, int z)
+        {
+            if (!voxelizer.VoxelExists(x, y, z)) return float.PositiveInfinity;
+
+            float dist = Vector3.Distance(voxelizer.GetVoxelCenter(distanceField[x, y, z]),
+                                          voxelizer.GetVoxelCenter(new Vector3Int(x, y, z)));
+
+            if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Inside)
+                return -dist;
+            return dist;
+        }
+
+        public Vector4 SampleFiltered(float x, float y, float z)
+        {
+            var pos = new Vector3(x, y, z);
+
+            // clamp position inside the distance field:
+            var min = voxelizer.GetVoxelCenter(new Vector3Int(0, 0, 0)); 
+            var max = voxelizer.GetVoxelCenter(new Vector3Int(voxelizer.resolution.x - 1, voxelizer.resolution.y - 1, voxelizer.resolution.z - 1));
+            pos.x = Mathf.Clamp(pos.x, min.x, max.x - voxelizer.voxelSize * 0.05f);
+            pos.y = Mathf.Clamp(pos.y, min.y, max.y - voxelizer.voxelSize * 0.05f);
+            pos.z = Mathf.Clamp(pos.z, min.z, max.z - voxelizer.voxelSize * 0.05f);
+
+            var voxel = voxelizer.GetPointVoxel(pos - Vector3.one * voxelizer.voxelSize * 0.5f) - voxelizer.Origin;
+
+            var voxelCenter = voxelizer.GetVoxelCenter(voxel);
+            var norm = (pos - voxelCenter) / voxelizer.voxelSize;
+
+            float xz00 = SampleUnfiltered(voxel.x, voxel.y, voxel.z);
+            float xz01 = SampleUnfiltered(voxel.x, voxel.y, voxel.z + 1);
+            float xz10 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z);
+            float xz11 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z + 1);
+
+            float yz00 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z);
+            float yz01 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z + 1);
+            float yz10 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z);
+            float yz11 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z + 1);
+
+            float X1 = Mathf.Lerp(xz00, xz10, norm.x);
+            float X2 = Mathf.Lerp(xz01, xz11, norm.x);
+            float X3 = Mathf.Lerp(yz00, yz10, norm.x);
+            float X4 = Mathf.Lerp(yz01, yz11, norm.x);
+
+            float Y1 = Mathf.Lerp(X1, X2, norm.z);
+            float Y2 = Mathf.Lerp(X3, X4, norm.z);
+
+            float R = Mathf.Lerp(Mathf.Lerp(xz10, xz11, norm.z), Mathf.Lerp(yz10, yz11, norm.z), norm.y);
+            float L = Mathf.Lerp(Mathf.Lerp(xz00, xz01, norm.z), Mathf.Lerp(yz00, yz01, norm.z), norm.y);
+
+            float F = Mathf.Lerp(X2, X4, norm.y);
+            float B = Mathf.Lerp(X1, X3, norm.y);
+
+            return new Vector4((R - L) / voxelizer.voxelSize,
+                               (Y2 - Y1) / voxelizer.voxelSize,
+                               (F - B) / voxelizer.voxelSize,
+                               Mathf.Lerp(Y1, Y2, norm.y));
+        }
+
+        public IEnumerator JumpFlood()
+        {
+
+            // create and initialize distance field:
+            distanceField = new Vector3Int[voxelizer.resolution.x,
+                                           voxelizer.resolution.y,
+                                           voxelizer.resolution.z];
+
+            // create auxiliar buffer for ping-pong.
+            Vector3Int[,,] auxBuffer = new Vector3Int[voxelizer.resolution.x,
+                                                      voxelizer.resolution.y,
+                                                      voxelizer.resolution.z];
+
+            // initialize distance field:
+            for (int x = 0; x < distanceField.GetLength(0); ++x)
+                for (int y = 0; y < distanceField.GetLength(1); ++y)
+                    for (int z = 0; z < distanceField.GetLength(2); ++z)
+                    {
+                        if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Boundary)
+                            distanceField[x, y, z] = new Vector3Int(x, y, z);
+                        else
+                            distanceField[x, y, z] = new Vector3Int(-1, -1, -1);
+                    }
+
+            // calculate the maximum size of the buffer:
+            int size = Mathf.Max(distanceField.GetLength(0),
+                                 distanceField.GetLength(1),
+                                 distanceField.GetLength(2));
+            int step = (int)(size / 2.0f);
+
+            yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...",0);
+
+            float numPasses = (int) Mathf.Log(size, 2);
+            int i = 0;
+
+            // jump flood passes:
+            while (step >= 1)
+            {
+                JumpFloodPass(step, distanceField, auxBuffer);
+
+                // halve step:
+                step /= 2;
+
+                // swap buffers:
+                Vector3Int[,,] temp = distanceField;
+                distanceField = auxBuffer;
+                auxBuffer = temp;
+
+                yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...", ++i / numPasses);
+            }
+
+        }
+
+        private void JumpFloodPass(int stride, Vector3Int[,,] input, Vector3Int[,,] output)
+        {
+            // for each voxel:
+            for (int x = 0; x < input.GetLength(0); ++x)
+                for (int y = 0; y < input.GetLength(1); ++y)
+                    for (int z = 0; z < input.GetLength(2); ++z)
+                    {
+                        // our position:
+                        Vector3Int p = new Vector3Int(x, y, z);
+
+                        // our seed:
+                        Vector3Int s = input[x, y, z];
+
+                        // copy the closest seed to the output, in case we do not update it this pass:
+                        output[x, y, z] = s;
+
+                        // this voxel is a seed, skip it.
+                        if (s.x == x && s.y == y && s.z == z)
+                            continue;
+
+                        // distance to our closest seed:
+                        float dist = float.MaxValue;
+                        if (s.x >= 0)
+                            dist = (s - p).sqrMagnitude;
+
+                        // for each neighbor voxel:
+                        for (int nx = -1; nx <= 1; ++nx)
+                            for (int ny = -1; ny <= 1; ++ny)
+                                for (int nz = -1; nz <= 1; ++nz)
+                                {
+                                    // neighbor's position:
+                                    int px = x + nx * stride;
+                                    int py = y + ny * stride;
+                                    int pz = z + nz * stride;
+
+                                    if (voxelizer.VoxelExists(px,py,pz))
+                                    {
+                                        // neighbors' closest seed.
+                                        Vector3Int n = input[px,py,pz];
+
+                                        if (n.x >= 0)
+                                        {
+                                            // distance to neighbor's closest seed:
+                                            float newDist = (n - p).sqrMagnitude;
+
+                                            // if the distance to the neighbor's closest seed is smaller than the distance to ours:
+                                            if (newDist < dist)
+                                            {
+                                                output[x, y, z] = n;
+                                                dist = newDist;
+                                            }
+                                        }
+                                    }
+                                }
+                    }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta
new file mode 100644
index 00000000..84c75c21
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c65cc27d2e30248c5afce6392f782c11
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs
new file mode 100644
index 00000000..8ac2788b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs
@@ -0,0 +1,135 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class VoxelPathFinder
+    {
+        private MeshVoxelizer voxelizer = null;
+        private bool[,,] closed;
+        private PriorityQueue<TargetVoxel> open;
+
+        public struct TargetVoxel : IEquatable<TargetVoxel>, IComparable<TargetVoxel>
+        {
+            public Vector3Int coordinates;
+            public float distance;
+            public float heuristic;
+            //public TargetVoxel parent;
+
+            public float cost
+            {
+                get { return distance + heuristic; }
+            }
+
+            public TargetVoxel(Vector3Int coordinates, float distance, float heuristic)
+            {
+                this.coordinates = coordinates;
+                this.distance = distance;
+                this.heuristic = heuristic;
+            }
+
+            public bool Equals(TargetVoxel other)
+            {
+                return this.coordinates.Equals(other.coordinates);
+            }
+
+            public int CompareTo(TargetVoxel other)
+            {
+                return this.cost.CompareTo(other.cost);
+            }
+        }
+
+        public VoxelPathFinder(MeshVoxelizer voxelizer)
+        {
+            this.voxelizer = voxelizer;
+            closed = new bool[voxelizer.resolution.x, voxelizer.resolution.y, voxelizer.resolution.z];
+            open = new PriorityQueue<TargetVoxel>();
+        }
+
+        private TargetVoxel AStar(in Vector3Int start, Func<TargetVoxel,bool> termination, Func<Vector3Int, float> heuristic)
+        {
+            Array.Clear(closed, 0, closed.Length);
+
+            // A* algorithm:
+            open.Clear();
+            open.Enqueue(new TargetVoxel(start, 0, 0));
+
+            while (open.Count() != 0)
+            {
+                var current = open.Dequeue();
+
+                if (termination(current))
+                    return current;
+
+                closed[current.coordinates.x, current.coordinates.y, current.coordinates.z] = true;
+
+                for (int i = 0; i < MeshVoxelizer.fullNeighborhood.Length; ++i)
+                {
+                    var successorCoords = current.coordinates + MeshVoxelizer.fullNeighborhood[i];
+
+                    if (voxelizer.VoxelExists(successorCoords) &&
+                        voxelizer[successorCoords.x, successorCoords.y, successorCoords.z] != MeshVoxelizer.Voxel.Outside &&
+                        !closed[successorCoords.x, successorCoords.y, successorCoords.z])
+                    {
+                        var successor = new TargetVoxel(successorCoords, current.distance + voxelizer.GetDistanceToNeighbor(i),
+                                                        heuristic(successorCoords));
+                        //successor.parent = current;
+
+                        int index = -1;
+                        for (int j = 0; j < open.Count(); ++j)
+                            if (open.data[j].coordinates == successorCoords)
+                            { index = j; break; }
+
+                        if (index < 0)
+                            open.Enqueue(successor);
+                        else if (successor.distance < open.data[index].distance)
+                            open.data[index] = successor;
+                    }
+                }
+            }
+
+            return new TargetVoxel(Vector3Int.zero, -1, -1);
+        }
+
+        public TargetVoxel FindClosestNonEmptyVoxel(in Vector3Int start)
+        {
+            if (voxelizer == null) return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (!voxelizer.VoxelExists(start))
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (voxelizer[start.x, start.y, start.z] != MeshVoxelizer.Voxel.Outside)
+                return new TargetVoxel(start, 0, 0);
+
+            Array.Clear(closed, 0, closed.Length);
+
+            return AStar(start,
+            (TargetVoxel v) => {
+                return voxelizer[v.coordinates.x, v.coordinates.y, v.coordinates.z] != MeshVoxelizer.Voxel.Outside;
+            },
+            (Vector3Int c) => {
+                return 0;
+            });
+        }
+
+        public TargetVoxel FindPath(in Vector3Int start, Vector3Int end)
+        {
+            if (voxelizer == null) return new TargetVoxel(Vector3Int.zero,-1, -1);
+
+            if (!voxelizer.VoxelExists(start) || !voxelizer.VoxelExists(end))
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (voxelizer[start.x, start.y, start.z] == MeshVoxelizer.Voxel.Outside ||
+                voxelizer[end.x, end.y, end.z] == MeshVoxelizer.Voxel.Outside)
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            return AStar(start,
+            (TargetVoxel v) => {
+                return v.coordinates == end;
+            },
+            (Vector3Int c) => {
+                return Vector3.Distance(c, end) * voxelizer.voxelSize;
+            });
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta
new file mode 100644
index 00000000..a41bf458
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e4d304562b1140b8a161652aaf4f122
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs b/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs
new file mode 100644
index 00000000..1a48a23f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi
+{
+    public class ObiEditorSettings : ScriptableObject
+    {
+        public const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
+
+        [SerializeField] private Color m_ParticleBrush;
+        [SerializeField] private Color m_BrushWireframe;
+        [SerializeField] private Color m_Particle;
+        [SerializeField] private Color m_SelectedParticle;
+        [SerializeField] private Color m_ActiveParticle;
+        [SerializeField] private Gradient m_PropertyGradient;
+        [SerializeField] private bool m_ParticlePicking;
+
+        public Color brushColor
+        {
+            get { return m_ParticleBrush; }
+        }
+        public Color brushWireframeColor
+        {
+            get { return m_BrushWireframe; }
+        }
+        public Color particleColor
+        {
+            get { return m_Particle; }
+        }
+        public Color selectedParticleColor
+        {
+            get { return m_SelectedParticle; }
+        }
+        public Color activeParticleColor
+        {
+            get { return m_ActiveParticle; }
+        }
+        public Gradient propertyGradient
+        {
+            get { return m_PropertyGradient; }
+        }
+        public bool sceneViewParticlePicking
+        {
+            get { return m_ParticlePicking; }
+        }
+
+#if UNITY_EDITOR
+        public static ObiEditorSettings GetOrCreateSettings()
+        {
+            var settings = AssetDatabase.LoadAssetAtPath<ObiEditorSettings>(m_ObiEditorSettingsPath);
+            if (settings == null)
+            {
+                settings = ScriptableObject.CreateInstance<ObiEditorSettings>();
+                settings.m_ParticleBrush = new Color32(243, 77, 43, 255);
+                settings.m_BrushWireframe = new Color32(0, 0, 0, 128);
+                settings.m_Particle = new Color32(240, 240, 240, 255);
+                settings.m_SelectedParticle = new Color32(243, 77, 43, 255);
+                settings.m_ActiveParticle = new Color32(243, 243, 43, 255);
+                settings.m_PropertyGradient = new Gradient();
+                settings.m_ParticlePicking = true;
+
+                // Populate the color keys at the relative time 0 and 1 (0 and 100%)
+                var colorKey = new GradientColorKey[2];
+                colorKey[0].color = Color.grey * 0.7f;
+                colorKey[0].time = 0.0f;
+                colorKey[1].color = Color.white;
+                colorKey[1].time = 1.0f;
+
+                // Populate the alpha  keys at relative time 0 and 1  (0 and 100%)
+                var alphaKey = new GradientAlphaKey[2];
+                alphaKey[0].alpha = 1.0f;
+                alphaKey[0].time = 0.0f;
+                alphaKey[1].alpha = 1.0f;
+                alphaKey[1].time = 1.0f;
+
+                settings.m_PropertyGradient.SetKeys(colorKey, alphaKey);
+
+                AssetDatabase.CreateAsset(settings, m_ObiEditorSettingsPath);
+                AssetDatabase.SaveAssets();
+            }
+            return settings;
+        }
+
+
+        public static SerializedObject GetSerializedSettings()
+        {
+            return new SerializedObject(GetOrCreateSettings());
+        }
+#endif
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs.meta
new file mode 100644
index 00000000..ba5f3378
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/ObiEditorSettings.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7971633b9741349f3add282a07b0d69b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering.meta
new file mode 100644
index 00000000..750a354b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 01dd4c104c0244e66a3ed4b9824df2b3
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta
new file mode 100644
index 00000000..3fd71cf2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 13ef5aa25fc194dda8d453b36a50e5d0
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs
new file mode 100644
index 00000000..7f836204
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs
@@ -0,0 +1,316 @@
+using UnityEngine;
+using Unity.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace Obi
+{
+    public interface IMeshDataProvider
+    {
+        Mesh sourceMesh { get; }
+        uint meshInstances { get; }
+
+        int vertexCount { get; }
+        int triangleCount { get; }
+
+        void GetVertices(List<Vector3> vertices);
+        void GetNormals(List<Vector3> normals);
+        void GetTangents(List<Vector4> tangents);
+        void GetColors(List<Color> colors);
+        void GetUVs(int channel, List<Vector2> uvs);
+
+        void GetTriangles(List<int> triangles);
+    }
+
+    public class MeshDataBatch
+    {
+        public struct MeshData
+        {
+            public int firstVertex;
+            public int vertexCount;
+
+            public int firstTriangle;
+            public int triangleCount;
+        }
+
+        private Dictionary<Mesh, int> meshToIndex;
+
+        // per mesh data:
+        public ObiNativeList<MeshData> meshData;
+
+        public ObiNativeList<Vector3> restPositions;
+        public ObiNativeList<Vector3> restNormals;
+        public ObiNativeList<Vector4> restTangents;
+        public ObiNativeList<Color> restColors;
+        public ObiNativeList<Vector2> uv;
+        public ObiNativeList<Vector2> uv2;
+        public ObiNativeList<Vector2> uv3;
+        public ObiNativeList<Vector2> uv4;
+        public ObiNativeList<int> triangles;
+
+        private List<Vector3> tempVertices;
+        private List<Vector3> tempNormals;
+        private List<Vector4> tempTangents;
+        private List<Color> tempColors;
+        private List<Vector2> tempUV;
+        private List<Vector2> tempUV2;
+        private List<Vector2> tempUV3;
+        private List<Vector2> tempUV4;
+        private List<int> tempTriangles;
+
+        public int Count { get { return meshData.count; } }
+
+        public MeshDataBatch()
+        {
+            meshToIndex = new Dictionary<Mesh, int>();
+            meshData = new ObiNativeList<MeshData>();
+
+            InitializeTempData();
+            InitializeDynamicData();
+            InitializeStaticData();
+        }
+
+        public void InitializeTempData()
+        {
+            tempVertices = new List<Vector3>();
+            tempNormals = new List<Vector3>();
+            tempTangents = new List<Vector4>();
+            tempColors = new List<Color>();
+
+            tempUV = new List<Vector2>();
+            tempUV2 = new List<Vector2>();
+            tempUV3 = new List<Vector2>();
+            tempUV4 = new List<Vector2>();
+            tempTriangles = new List<int>();
+        }
+
+        public void InitializeDynamicData()
+        {
+            if (restPositions == null)
+                restPositions = new ObiNativeList<Vector3>();
+
+            if (restNormals == null)
+                restNormals = new ObiNativeList<Vector3>();
+
+            if (restTangents == null)
+                restTangents = new ObiNativeList<Vector4>();
+
+            if (restColors == null)
+                restColors = new ObiNativeList<Color>();
+        }
+
+        public void InitializeStaticData()
+        {
+            if (uv == null)
+                uv = new ObiNativeList<Vector2>();
+
+            if (uv2 == null)
+                uv2 = new ObiNativeList<Vector2>();
+
+            if (uv3 == null)
+                uv3 = new ObiNativeList<Vector2>();
+
+            if (uv4 == null)
+                uv4 = new ObiNativeList<Vector2>();
+
+            if (triangles == null)
+                triangles = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            if (meshData != null) meshData.Dispose();
+            DisposeOfTempData();
+            DisposeOfDynamicData();
+            DisposeOfStaticData();
+        }
+
+        public void DisposeOfTempData()
+        {
+            tempVertices = null;
+            tempNormals = null;
+            tempTangents = null;
+            tempColors = null;
+
+            tempUV = null;
+            tempUV2 = null;
+            tempUV3 = null;
+            tempUV4 = null;
+            tempTriangles = null;
+        }
+
+        public void DisposeOfDynamicData()
+        {
+            if (restPositions != null) restPositions.Dispose(); restPositions = null;
+            if (restNormals != null)   restNormals.Dispose();   restNormals = null;
+            if (restTangents != null)  restTangents.Dispose();  restTangents = null;
+            if (restColors != null)    restColors.Dispose();    restColors = null;
+        }
+
+        public void DisposeOfStaticData()
+        {
+            if (uv != null)  uv.Dispose(); uv = null;
+            if (uv2 != null) uv2.Dispose(); uv2 = null;
+            if (uv3 != null) uv3.Dispose(); uv3 = null;
+            if (uv4 != null) uv4.Dispose(); uv4 = null;
+            if (triangles != null) triangles.Dispose(); triangles = null;
+        }
+
+        public void Clear()
+        {
+            if (meshToIndex != null) meshToIndex.Clear();
+            if (meshData != null) meshData.Clear();
+
+            if (restPositions != null) restPositions.Clear();
+            if (restNormals != null) restNormals.Clear();
+            if (restTangents != null) restTangents.Clear();
+            if (restColors != null) restColors.Clear();
+            if (uv != null) uv.Clear();
+            if (uv2 != null) uv2.Clear();
+            if (uv3 != null) uv3.Clear();
+            if (uv4 != null) uv4.Clear();
+            if (triangles != null) triangles.Clear();
+        }
+
+        public int AddMesh(IMeshDataProvider meshProvider)
+        {
+            if (!meshToIndex.TryGetValue(meshProvider.sourceMesh, out int index))
+            {
+                index = meshData.count;
+                meshToIndex[meshProvider.sourceMesh] = index;
+
+                meshProvider.GetVertices(tempVertices);
+                meshProvider.GetNormals(tempNormals);
+                meshProvider.GetTangents(tempTangents);
+                meshProvider.GetColors(tempColors);
+
+                meshProvider.GetUVs(0, tempUV);
+                meshProvider.GetUVs(1, tempUV2);
+                meshProvider.GetUVs(2, tempUV3);
+                meshProvider.GetUVs(3, tempUV4);
+
+                meshProvider.GetTriangles(tempTriangles);
+
+                if (tempTangents.Count == 0)
+                    tempTangents.AddRange(Enumerable.Repeat(Vector4.zero, tempVertices.Count));
+               
+                if (tempColors.Count == 0)
+                    tempColors.AddRange(Enumerable.Repeat(Color.white, tempVertices.Count));
+                
+                if (tempUV.Count == 0)
+                    tempUV.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+
+                if (tempUV2.Count == 0)
+                    tempUV2.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+                
+                if (tempUV3.Count == 0)
+                    tempUV3.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+                
+                if (tempUV4.Count == 0)
+                    tempUV4.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+
+                meshData.Add(new MeshData
+                {
+                    firstVertex = restPositions.count,
+                    vertexCount = tempVertices.Count,
+
+                    firstTriangle = triangles.count,
+                    triangleCount = tempTriangles.Count
+                });
+
+                restPositions.AddRange(tempVertices);
+                restNormals.AddRange(tempNormals);
+                restTangents.AddRange(tempTangents);
+                restColors.AddRange(tempColors);
+                uv.AddRange(tempUV);
+                uv2.AddRange(tempUV2);
+                uv3.AddRange(tempUV3);
+                uv4.AddRange(tempUV4);
+                triangles.AddRange(tempTriangles);
+            }
+            return index;
+        }
+
+        public void PrepareForCompute()
+        {
+            meshData.AsComputeBuffer<MeshData>();
+            restPositions.AsComputeBuffer<Vector3>();
+            restNormals.AsComputeBuffer<Vector3>();
+            restTangents.AsComputeBuffer<Vector4>();
+            restColors.AsComputeBuffer<Color>();
+        }
+
+        public int GetVertexCount(int meshIndex)
+        {
+            return meshData[meshIndex].vertexCount;
+        }
+
+        public int GetTriangleCount(int meshIndex)
+        {
+            return meshData[meshIndex].triangleCount;
+        }
+
+        public NativeSlice<Vector3> GetVertices(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restPositions.AsNativeArray<Vector3>().Slice(start,count);
+        }
+
+        public NativeSlice<Vector3> GetNormals(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restNormals.AsNativeArray<Vector3>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector4> GetTangents(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restTangents.AsNativeArray<Vector4>().Slice(start, count);
+        }
+
+        public NativeSlice<Color> GetColors(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restColors.AsNativeArray<Color>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV2(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv2.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV3(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv3.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV4(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv4.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<int> GetTriangles(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstTriangle;
+            int count = meshData[meshIndex].triangleCount;
+            return triangles.AsNativeArray<int>().Slice(start, count);
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta
new file mode 100644
index 00000000..a116f658
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 51631a4146e8e4501adcbe8ff6f039c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs
new file mode 100644
index 00000000..0d4c0841
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs
@@ -0,0 +1,117 @@
+
+using UnityEngine;
+
+namespace Obi
+{
+    public class SkeletonDataBatch
+    {
+        public struct SkeletonData
+        {
+            public int firstBone;
+            public int boneCount;
+        }
+
+        // per skinMap data:
+        public ObiNativeList<SkeletonData> skeletonData;
+        public ObiNativeList<Matrix4x4> world2Solver;
+
+        // bone data:
+        public ObiNativeList<Vector3> bonePositions;
+        public ObiNativeList<Quaternion> boneRotations;
+        public ObiNativeList<Vector3> boneScales;
+
+        public int Count { get { return skeletonData.count; } }
+
+        public SkeletonDataBatch()
+        {
+            skeletonData = new ObiNativeList<SkeletonData>();
+            world2Solver = new ObiNativeList<Matrix4x4>();
+
+            bonePositions = new ObiNativeList<Vector3>();
+            boneRotations = new ObiNativeList<Quaternion>();
+            boneScales = new ObiNativeList<Vector3>();
+        }
+
+        public void Dispose()
+        {
+            skeletonData.Dispose();
+            world2Solver.Dispose();
+
+            bonePositions.Dispose();
+            boneRotations.Dispose();
+            boneScales.Dispose();
+        }
+
+        public void Clear()
+        {
+            skeletonData.Clear();
+            world2Solver.Clear();
+
+            bonePositions.Clear();
+            boneRotations.Clear();
+            boneScales.Clear();
+        }
+
+        public int AddSkeleton(Transform[] bones, Matrix4x4 worldToSolver)
+        {
+            var data = new SkeletonData
+            {
+                firstBone = bonePositions.count,
+            };
+
+            foreach (var bone in bones)
+            {
+                if (bone != null)
+                {
+                    bonePositions.Add(bone.position);
+                    boneRotations.Add(bone.rotation);
+                    boneScales.Add(bone.localScale);
+                }
+            }
+
+            data.boneCount = bonePositions.count;
+
+            skeletonData.Add(data);
+            world2Solver.Add(worldToSolver);
+
+            return skeletonData.count - 1;
+        }
+
+        public void PrepareForCompute()
+        {
+            skeletonData.SafeAsComputeBuffer<SkeletonData>();
+            world2Solver.SafeAsComputeBuffer<Matrix4x4>();
+            bonePositions.SafeAsComputeBuffer<Vector3>();
+            boneRotations.SafeAsComputeBuffer<Quaternion>();
+            boneScales.SafeAsComputeBuffer<Vector3>();
+        }
+
+        public void SetBoneTransform(int index, int boneIndex, Transform transform)
+        {
+            if (transform != null)
+            {
+                var i = skeletonData[index].firstBone + boneIndex;
+                bonePositions[i] = transform.position;
+                boneScales[i] = transform.localScale;
+                boneRotations[i] = transform.rotation;
+            }
+        }
+
+        public void UpdateBoneTransformsCompute()
+        {
+            bonePositions.Upload();
+            boneScales.Upload();
+            boneRotations.Upload();
+        }
+
+        public Matrix4x4 GetWorldToSolverTransform(int index)
+        {
+            return world2Solver[index];
+        }
+
+        public void SetWorldToSolverTransform(int index, Matrix4x4 trfm)
+        {
+            world2Solver[index] = trfm;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta
new file mode 100644
index 00000000..cad0d32b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6b609b47dfb88424c9ae3e32c64bfaeb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs
new file mode 100644
index 00000000..91f76b01
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public interface ISurfaceChunkUser
+    {
+        uint usedChunkCount { get; }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta
new file mode 100644
index 00000000..ffcc1476
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5e544f8db79af4a6a91df85c5df0dee7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs
new file mode 100644
index 00000000..3fc67069
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs
@@ -0,0 +1,48 @@
+
+namespace Obi
+{
+    public interface IActorRenderer
+    {
+        public ObiActor actor
+        {
+            get;
+        }
+    }
+
+    public interface ObiActorRenderer<T> : IActorRenderer, ObiRenderer<T> where T : ObiActorRenderer<T>
+    {
+        public void EnableRenderer()
+        {
+            actor.OnBlueprintLoaded += ObiActorRenderer_OnBlueprintLoaded;
+            actor.OnBlueprintUnloaded += ObiActorRenderer_OnBlueprintUnloaded;
+
+            if (actor.isLoaded)
+                RegisterRenderer(actor.solver);
+        }
+
+        public void DisableRenderer()
+        {
+            if (actor.isLoaded)
+                UnregisterRenderer(actor.solver);
+
+            actor.OnBlueprintLoaded -= ObiActorRenderer_OnBlueprintLoaded;
+            actor.OnBlueprintUnloaded -= ObiActorRenderer_OnBlueprintUnloaded;
+        }
+
+        public void SetRendererDirty(Oni.RenderingSystemType type)
+        {
+            if (actor != null)
+                actor.SetRenderingDirty(type);
+        }
+
+        private void ObiActorRenderer_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
+        {
+            RegisterRenderer(act.solver);
+        }
+
+        protected void ObiActorRenderer_OnBlueprintUnloaded(ObiActor act, ObiActorBlueprint blueprint)
+        {
+            UnregisterRenderer(act.solver);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta
new file mode 100644
index 00000000..8dd78451
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f86d1462578d497182bb58c20b89d42
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
new file mode 100644
index 00000000..2f0344d6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
@@ -0,0 +1,166 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Distance Field Renderer", 1003)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiCollider))]
+    public class ObiDistanceFieldRenderer : MonoBehaviour
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2,
+        }
+
+        public Axis axis;
+        [Range(0, 1)]
+        public float slice = 0.25f;
+        public float maxDistance = 0.5f;
+
+        private ObiCollider unityCollider;
+        private Material material;
+        private Mesh planeMesh;
+        private Texture2D cutawayTexture;
+
+        private float sampleSize;
+        private int sampleCount;
+
+        private Color boundsColor = new Color(1, 1, 1, 0.5f);
+
+        public void Awake()
+        {
+            unityCollider = GetComponent<ObiCollider>();
+        }
+
+        public void OnEnable()
+        {
+            material = GameObject.Instantiate(Resources.Load<Material>("ObiMaterials/DistanceFields/DistanceFieldRendering"));
+            material.hideFlags = HideFlags.HideAndDontSave;
+        }
+
+        public void OnDisable()
+        {
+            Cleanup();
+        }
+
+        private void Cleanup()
+        {
+            GameObject.DestroyImmediate(cutawayTexture);
+            GameObject.DestroyImmediate(planeMesh);
+            GameObject.DestroyImmediate(material);
+        }
+
+        private void ResizeTexture()
+        {
+
+            if (cutawayTexture == null)
+            {
+                cutawayTexture = new Texture2D(sampleCount, sampleCount, TextureFormat.RHalf, false);
+                cutawayTexture.wrapMode = TextureWrapMode.Clamp;
+                cutawayTexture.hideFlags = HideFlags.HideAndDontSave;
+            }
+            else
+                cutawayTexture.Reinitialize(sampleCount, sampleCount);
+        }
+
+        private void CreatePlaneMesh(ObiDistanceField field)
+        {
+
+            if (field != null && planeMesh == null)
+            {
+
+                float uvBorder = (1 - field.FieldBounds.size[0] / (sampleSize * sampleCount)) * 0.5f;
+
+                planeMesh = new Mesh();
+
+                planeMesh.vertices = new Vector3[]{new Vector3(-0.5f,-0.5f,0),
+                                                   new Vector3(0.5f,-0.5f,0),
+                                                   new Vector3(-0.5f,0.5f,0),
+                                                   new Vector3(0.5f,0.5f,0)};
+
+                planeMesh.uv = new Vector2[]{new Vector2(uvBorder,uvBorder),
+                                             new Vector2(1-uvBorder,uvBorder),
+                                             new Vector2(uvBorder,1-uvBorder),
+                                             new Vector2(1-uvBorder,1-uvBorder)};
+
+                planeMesh.normals = new Vector3[] { -Vector3.forward, -Vector3.forward, -Vector3.forward, -Vector3.forward };
+                planeMesh.triangles = new int[] { 0, 2, 1, 2, 3, 1 };
+            }
+        }
+
+        private void RefreshCutawayTexture(ObiDistanceField field)
+        {
+            if (field == null)
+                return;
+
+            Bounds b = field.FieldBounds;
+            sampleSize = field.EffectiveSampleSize;
+            sampleCount = (int)(b.size[0] / sampleSize) + 1;
+
+            CreatePlaneMesh(field);
+            ResizeTexture();
+
+            float sweep = (sampleCount * slice) * sampleSize;
+            Vector3 origin = b.center - b.extents;
+
+            for (int x = 0; x < sampleCount; ++x)
+                for (int y = 0; y < sampleCount; ++y)
+                {
+                    Vector3 offset = Vector3.zero;
+                    switch (axis)
+                    {
+                        case Axis.X: offset = new Vector3(sweep, y * sampleSize, x * sampleSize); break;
+                        case Axis.Y: offset = new Vector3(x * sampleSize, sweep, y * sampleSize); break;
+                        case Axis.Z: offset = new Vector3(x * sampleSize, y * sampleSize, sweep); break;
+                    }
+
+                    float distance = ASDF.Sample(field.nodes, origin + offset);
+
+                    float value = ObiUtils.Remap(distance, -maxDistance, maxDistance, 0, 1);
+
+                    cutawayTexture.SetPixel(x, y, new Color(value, 0, 0));
+                }
+            cutawayTexture.Apply();
+        }
+
+        private void DrawCutawayPlane(ObiDistanceField field, Matrix4x4 matrix)
+        {
+
+            if (field == null)
+                return;
+
+            RefreshCutawayTexture(field);
+
+            material.mainTexture = cutawayTexture;
+            material.SetPass(0);
+
+            Quaternion rotation = Quaternion.identity;
+            Vector3 offset = Vector3.zero;
+            offset[(int)axis] = field.FieldBounds.size[0];
+
+            if (axis == Axis.Y)
+                rotation = Quaternion.Euler(90, 0, 0);
+            else if (axis == Axis.X)
+                rotation = Quaternion.Euler(0, -90, 0);
+
+            Matrix4x4 sc = Matrix4x4.TRS(field.FieldBounds.center + offset * (slice - 0.5f), rotation, Vector3.one * field.FieldBounds.size[0]);
+            Graphics.DrawMeshNow(planeMesh, matrix * sc);
+
+        }
+
+        public void OnDrawGizmos()
+        {
+            if (unityCollider != null && unityCollider.distanceField != null && unityCollider.distanceField.Initialized && material != null)
+            {
+                DrawCutawayPlane(unityCollider.distanceField, transform.localToWorldMatrix);
+                Gizmos.color = boundsColor;
+                Gizmos.DrawWireCube(unityCollider.distanceField.FieldBounds.center, unityCollider.distanceField.FieldBounds.size);
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta
new file mode 100644
index 00000000..daf2292b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 382f1f06ad1a84a9f8fb3a60b50dd9b7
+timeCreated: 1516041863
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 41cb9d55de5b24458b45e5465606249a, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs
new file mode 100644
index 00000000..93b90620
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs
@@ -0,0 +1,96 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using Unity.Profiling;
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct DiffuseParticleVertex
+    {
+        public Vector4 pos;
+        public Vector3 offset;
+        public Vector4 color;
+        public Vector4 velocity;
+        public Vector4 attributes;
+    }
+
+    public class ObiFoamRenderSystem : RenderSystem<ObiFoamGenerator>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.FoamParticles; }
+
+        public RendererSet<ObiFoamGenerator> renderers { get; } = new RendererSet<ObiFoamGenerator>();
+        public bool isSetup => true;
+
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 4), // velocity
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 4), // attributes
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupSurfaceMeshing");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("SurfaceMeshing");
+
+        protected HashSet<Camera> cameras = new HashSet<Camera>();
+        protected MaterialPropertyBlock matProps;
+
+        protected ObiSolver m_Solver;
+        public ProceduralRenderBatch<DiffuseParticleVertex> renderBatch;
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        // must be done before fluid meshing.
+        public uint tier
+        {
+            get { return 0; }
+        }
+
+        public ObiFoamRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+            matProps = new MaterialPropertyBlock();
+
+#if (UNITY_2019_1_OR_NEWER)
+            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { RenderFromCamera(cam); });
+            RenderPipelineManager.beginCameraRendering += renderCallback;
+#endif
+            Camera.onPreCull += RenderFromCamera;
+        }
+
+        public virtual void Dispose()
+        {
+            
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= RenderFromCamera;
+
+            renderBatch.Dispose();
+            cameras.Clear();
+        }
+
+        public void RenderFromCamera(Camera camera)
+        {
+            cameras.Add(camera);
+        }
+
+        public virtual void Setup()
+        {
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta
new file mode 100644
index 00000000..7536fe66
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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+guid: 96d883432ef854a8598e264c73232bdc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs
new file mode 100644
index 00000000..1977c446
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs
@@ -0,0 +1,151 @@
+using UnityEngine;
+using System.Collections.Generic;
+using UnityEngine.Rendering;
+using Unity.Collections;
+using Unity.Profiling;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+
+    public abstract class ObiInstancedParticleRenderSystem : RenderSystem<ObiInstancedParticleRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.InstancedParticles; }
+
+        public RendererSet<ObiInstancedParticleRenderer> renderers { get; } = new RendererSet<ObiInstancedParticleRenderer>();
+        public bool isSetup => activeParticles != null;
+
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupParticleRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ParticleRendering");
+
+        protected ObiSolver m_Solver;
+
+        protected List<InstancedRenderBatch> batchList = new List<InstancedRenderBatch>();
+
+        protected ObiNativeList<int> activeParticles;
+        protected ObiNativeList<int> rendererIndex;
+        protected ObiNativeList<ParticleRendererData> rendererData;
+
+        protected ObiNativeList<Matrix4x4> instanceTransforms;
+        protected ObiNativeList<Matrix4x4> invInstanceTransforms;
+        protected ObiNativeList<Vector4> instanceColors;
+
+        public ObiInstancedParticleRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            activeParticles = new ObiNativeList<int>();
+            rendererIndex = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<ParticleRendererData>();
+            instanceTransforms = new ObiNativeList<Matrix4x4>();
+            invInstanceTransforms = new ObiNativeList<Matrix4x4>();
+            instanceColors = new ObiNativeList<Vector4>();
+        }
+
+        public virtual void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (activeParticles != null)
+                activeParticles.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (rendererIndex != null)
+                rendererIndex.Dispose();
+            if (instanceTransforms != null)
+                instanceTransforms.Dispose();
+            if (invInstanceTransforms != null)
+                invInstanceTransforms.Dispose();
+            if (instanceColors != null)
+                instanceColors.Dispose();
+        }
+
+        protected virtual void Clear()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            activeParticles.Clear();
+            rendererData.Clear();
+            rendererIndex.Clear();
+            instanceTransforms.Clear();
+            invInstanceTransforms.Clear();
+            instanceColors.Clear();
+        }
+
+        protected virtual void CreateBatches()
+        {
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+
+                // Create multiple batches of at most maxInstancesPerBatch particles each:
+                int instanceCount = 0;
+                while (instanceCount < renderers[i].actor.particleCount)
+                {
+                    var batch = new InstancedRenderBatch(i, renderers[i].mesh, renderers[i].material, renderers[i].renderParameters);
+                    batch.firstInstance = instanceCount;
+                    batch.instanceCount = Mathf.Min(renderers[i].actor.particleCount - instanceCount, Constants.maxInstancesPerBatch);
+                    instanceCount += batch.instanceCount;
+                    batchList.Add(batch);
+                }
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                var renderer = renderers[batch.firstRenderer];
+                int particlesSoFar = activeParticles.count;
+
+                // add active particles here, respecting batch order:
+                activeParticles.AddRange(renderer.actor.solverIndices, batch.firstInstance, batch.instanceCount);
+                rendererIndex.AddReplicate(i, batch.instanceCount);
+                rendererData.Add(new ParticleRendererData(renderer.instanceColor, renderer.instanceScale));
+
+                batch.firstInstance = particlesSoFar;
+            }
+
+            instanceTransforms.ResizeUninitialized(activeParticles.count);
+            invInstanceTransforms.ResizeUninitialized(activeParticles.count);
+            instanceColors.ResizeUninitialized(activeParticles.count);
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize();
+        }
+
+        public virtual void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+            }
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..d62f80c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fd33018010abc46be9ac6cc091142ccf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
new file mode 100644
index 00000000..e7681459
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Threading;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [AddComponentMenu("Physics/Obi/Obi Instanced Particle Renderer", 1001)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    public class ObiInstancedParticleRenderer : MonoBehaviour, ObiActorRenderer<ObiInstancedParticleRenderer>
+    {
+        public Mesh mesh;
+        public Material material;
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+        public Color instanceColor = Color.white;
+        public float instanceScale = 1;
+
+        public ObiActor actor { get; private set; }
+
+        void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.InstancedParticles);
+        }
+
+        RenderSystem<ObiInstancedParticleRenderer> ObiRenderer<ObiInstancedParticleRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstInstancedParticleRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeInstancedParticleRenderSystem(solver);
+                    return null;
+            }
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta
new file mode 100644
index 00000000..02842862
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 356b834afda224f73a26e39580b330f1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences:
+  - mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+  - material: {fileID: 2100000, guid: 2b7dfa8ebb76247318ce5b7df4b97484, type: 2}
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: f424a87c9f03240c2870a664731ac9aa, type: 3}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs
new file mode 100644
index 00000000..b84ed1b3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs
@@ -0,0 +1,145 @@
+using UnityEngine;
+using System.Collections.Generic;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ParticleVertex
+    {
+        public Vector4 pos;
+        public Vector3 offset;
+        public Vector4 color;
+        public Vector4 b1;
+        public Vector4 b2;
+        public Vector4 b3;
+    }
+
+    public abstract class ObiParticleRenderSystem : RenderSystem<ObiParticleRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.Particles; }
+
+        public RendererSet<ObiParticleRenderer> renderers { get; } = new RendererSet<ObiParticleRenderer>();
+        public bool isSetup => activeParticles != null;
+
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord2, VertexAttributeFormat.Float32, 4)
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupParticleRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ParticleRendering");
+
+        protected ObiSolver m_Solver;
+
+        protected List<ProceduralRenderBatch<ParticleVertex>> batchList = new List<ProceduralRenderBatch<ParticleVertex>>();
+
+        protected ObiNativeList<int> activeParticles;
+        protected ObiNativeList<int> rendererIndex;
+        protected ObiNativeList<ParticleRendererData> rendererData;
+
+        public ObiParticleRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            activeParticles = new ObiNativeList<int>();
+            rendererIndex = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<ParticleRendererData>();
+        }
+
+        public virtual void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (activeParticles != null)
+                activeParticles.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (rendererIndex != null)
+                rendererIndex.Dispose();
+        }
+
+        protected virtual void Clear()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            activeParticles.Clear();
+            rendererData.Clear();
+            rendererIndex.Clear();
+        }
+
+        protected virtual void CreateBatches()
+        {
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                batchList.Add(new ProceduralRenderBatch<ParticleVertex>(i, renderers[i].material, renderers[i].renderParameters));
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            int particleCount = 0;
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                var renderer = renderers[batch.firstRenderer];
+                int actorParticleCount = renderer.actor.particleCount;
+
+                batch.vertexCount += actorParticleCount * 4;
+                batch.triangleCount += actorParticleCount * 2;
+
+                batch.firstParticle = particleCount;
+                particleCount += actorParticleCount;
+
+                // add particles here, respecting batch order:
+                activeParticles.AddRange(renderer.actor.solverIndices, actorParticleCount);
+                rendererData.Add(new ParticleRendererData(renderer.particleColor, renderer.radiusScale));
+                rendererIndex.AddReplicate(i, actorParticleCount);
+            }
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout);
+        }
+
+        public virtual void  Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+
+            }
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta
new file mode 100644
index 00000000..e2307d23
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5e36441d408a548d29fbc80dfa4fffc1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
new file mode 100644
index 00000000..ab677004
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
@@ -0,0 +1,78 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public interface IParticleRenderer
+    {
+        public ObiActor actor { get; }
+        public Color particleColor { get; }
+        public float radiusScale { get; }
+    }
+
+    public struct ParticleRendererData
+    {
+        public Color color;
+        public float radiusScale;
+
+        public ParticleRendererData(Color color, float radiusScale)
+        {
+            this.color = color;
+            this.radiusScale = radiusScale;
+        }
+    }
+
+    [AddComponentMenu("Physics/Obi/Obi Particle Renderer", 1000)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    public class ObiParticleRenderer : MonoBehaviour, IParticleRenderer, ObiActorRenderer<ObiParticleRenderer>
+    {
+        public Material material;
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        [field: SerializeField]
+        public Color particleColor { get; set; } = Color.white;
+
+        [field: SerializeField]
+        public float radiusScale { get; set; } = 1;
+
+        public ObiActor actor { get; private set; }
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiParticleRenderer>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiParticleRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiParticleRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.Particles);
+        }
+
+        RenderSystem<ObiParticleRenderer> ObiRenderer<ObiParticleRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstParticleRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeParticleRenderSystem(solver);
+                    return null;
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
new file mode 100644
index 00000000..58bfe07b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
@@ -0,0 +1,12 @@
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+guid: c8b45ebbf86be4df6b0e6cd933812af2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences:
+  - material: {fileID: 2100000, guid: fb88690dea2394644849cde5abd037f9, type: 2}
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs
new file mode 100644
index 00000000..99e1277b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public interface ObiRenderer<T> where T : ObiRenderer<T>
+    {
+        protected RenderSystem<T> CreateRenderSystem(ObiSolver solver);
+
+        public bool ValidateRenderer() { return true; }
+        public void CleanupRenderer() { }
+
+        protected bool UnregisterRenderer(ObiSolver solver)
+        {
+            CleanupRenderer();
+
+            // try to get a render system from the solver:
+            var system = solver.GetRenderSystem<T>();
+
+            // if there's an existing render system for this kind of renderer,
+            // unregister from it.
+            if (system != null && system.RemoveRenderer((T)this))
+            {
+                // if the render system is empty, destroy it:
+                if (system.isEmpty)
+                {
+                    solver.UnregisterRenderSystem(system);
+                    system.Dispose();
+                }
+
+                solver.dirtyRendering |= (int)system.typeEnum;
+                return true;
+            }
+
+            return false;
+        }
+
+        protected bool RegisterRenderer(ObiSolver solver)
+        {
+            if (ValidateRenderer())
+            {
+                // try to get a render system from the solver:
+                var system = solver.GetRenderSystem<T>();
+
+                // if no appropiate system has been created yet, create it:
+                if (system == null)
+                {
+                    system = CreateRenderSystem(solver) as RenderSystem<T>;
+                    solver.RegisterRenderSystem(system);
+                }
+
+                // register in the renderer:
+                if (system != null)
+                {
+                    system.AddRenderer((T)this);
+                    solver.dirtyRendering |= (int)system.typeEnum;
+                    return true;
+                }
+            }
+
+            return false;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta
new file mode 100644
index 00000000..ae92becb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7d4f237ec9acf4df0a30d5a0139e0f36
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs
new file mode 100644
index 00000000..5a90e277
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs
@@ -0,0 +1,164 @@
+using UnityEngine;
+using Unity.Profiling;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ParticleImpostorRendering
+    {
+        static ProfilerMarker m_ParticlesToMeshPerfMarker = new ProfilerMarker("ParticlesToMesh");
+
+        private List<Mesh> meshes = new List<Mesh>();
+
+        private List<Vector3> vertices = new List<Vector3>(4000);
+        private List<Vector3> normals = new List<Vector3>(4000);
+        private List<Color> colors = new List<Color>(4000);
+        private List<int> triangles = new List<int>(6000);
+
+        private List<Vector4> anisotropy1 = new List<Vector4>(4000);
+        private List<Vector4> anisotropy2 = new List<Vector4>(4000);
+        private List<Vector4> anisotropy3 = new List<Vector4>(4000);
+
+        int particlesPerDrawcall = 0;
+        int drawcallCount;
+
+        private Vector3 particleOffset0 = new Vector3(1, 1, 0);
+        private Vector3 particleOffset1 = new Vector3(-1, 1, 0);
+        private Vector3 particleOffset2 = new Vector3(-1, -1, 0);
+        private Vector3 particleOffset3 = new Vector3(1, -1, 0);
+
+        public IEnumerable<Mesh> Meshes
+        {
+            get { return meshes.AsReadOnly(); }
+        }
+
+        private void Apply(Mesh mesh)
+        {
+            mesh.Clear();
+            mesh.SetVertices(vertices);
+            mesh.SetNormals(normals);
+            mesh.SetColors(colors);
+            mesh.SetUVs(0, anisotropy1);
+            mesh.SetUVs(1, anisotropy2);
+            mesh.SetUVs(2, anisotropy3);
+            mesh.SetTriangles(triangles, 0, true);
+        }
+
+        public void ClearMeshes()
+        {
+            foreach (Mesh mesh in meshes)
+                GameObject.DestroyImmediate(mesh);
+            meshes.Clear();
+        }
+
+        public void UpdateMeshes(IObiParticleCollection collection, bool[] visible = null, Color[] tint = null)
+        {
+            using (m_ParticlesToMeshPerfMarker.Auto())
+            {
+
+                // figure out the size of our drawcall arrays:
+                particlesPerDrawcall = Constants.maxVertsPerMesh / 4;
+                drawcallCount = collection.activeParticleCount / particlesPerDrawcall + 1;
+                particlesPerDrawcall = Mathf.Min(particlesPerDrawcall, collection.activeParticleCount);
+
+                // If the amount of meshes we need to draw the particles has changed:
+                if (drawcallCount != meshes.Count)
+                {
+
+                    // Re-generate meshes:
+                    ClearMeshes();
+                    for (int i = 0; i < drawcallCount; i++)
+                    {
+                        Mesh mesh = new Mesh();
+                        mesh.name = "Particle impostors";
+                        mesh.hideFlags = HideFlags.HideAndDontSave;
+                        meshes.Add(mesh);
+                    }
+
+                }
+
+                Vector3 position;
+                Vector4 basis1 = new Vector4(1, 0, 0, 0);
+                Vector4 basis2 = new Vector4(0, 1, 0, 0);
+                Vector4 basis3 = new Vector4(0, 0, 1, 0);
+                Color color;
+
+                int visibleLength = visible != null ? visible.Length : 0;
+                int tintLength = tint != null ? tint.Length : 0;
+
+                //Convert particle data to mesh geometry:
+                for (int i = 0; i < drawcallCount; i++)
+                {
+
+                    // Clear all arrays
+                    vertices.Clear();
+                    normals.Clear();
+                    colors.Clear();
+                    triangles.Clear();
+                    anisotropy1.Clear();
+                    anisotropy2.Clear();
+                    anisotropy3.Clear();
+
+                    int index = 0;
+                    int limit = Mathf.Min((i + 1) * particlesPerDrawcall, collection.activeParticleCount);
+
+                    for (int j = i * particlesPerDrawcall; j < limit; ++j)
+                    {
+                        if (j < visibleLength && !visible[j])
+                            continue;
+
+                        int runtimeIndex = collection.GetParticleRuntimeIndex(j);
+                        position = collection.GetParticlePosition(runtimeIndex);
+                        collection.GetParticleAnisotropy(runtimeIndex, ref basis1, ref basis2, ref basis3);
+                        color = collection.GetParticleColor(runtimeIndex);
+
+                        if (j < tintLength)
+                            color *= tint[j];
+
+                        vertices.Add(position);
+                        vertices.Add(position);
+                        vertices.Add(position);
+                        vertices.Add(position);
+
+                        normals.Add(particleOffset0);
+                        normals.Add(particleOffset1);
+                        normals.Add(particleOffset2);
+                        normals.Add(particleOffset3);
+
+                        colors.Add(color);
+                        colors.Add(color);
+                        colors.Add(color);
+                        colors.Add(color);
+
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+
+                        triangles.Add(index + 2);
+                        triangles.Add(index + 1);
+                        triangles.Add(index);
+                        triangles.Add(index + 3);
+                        triangles.Add(index + 2);
+                        triangles.Add(index);
+
+                        index += 4;
+                    }
+
+                    Apply(meshes[i]);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta
new file mode 100644
index 00000000..2ee95bbf
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta
new file mode 100644
index 00000000..66adb0b7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs
new file mode 100644
index 00000000..ba2f0949
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs
@@ -0,0 +1,368 @@
+using System;
+using UnityEngine;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct DynamicBatchVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct StaticBatchVertex
+    {
+        public Vector2 uv;
+        public Vector2 uv2;
+        public Vector2 uv3;
+        public Vector2 uv4;
+    }
+
+    public class DynamicRenderBatch<T> : IRenderBatch where T : IMeshDataProvider, IActorRenderer
+    {
+        private VertexAttributeDescriptor[] vertexLayout;
+
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Material[] materials;
+        public Mesh mesh;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public ObiNativeList<int> vertexToRenderer; // for each vertex in the batch, index of its renderer
+        public ObiNativeList<int> particleToRenderer; // for each particle in the batch, index of its renderer
+
+        public ObiNativeList<int> particleIndices; // solver indices for all renderers in the batch
+
+        public ObiNativeList<DynamicBatchVertex> dynamicVertexData;
+        public ObiNativeList<StaticBatchVertex> staticVertexData;
+        public ObiNativeList<int> triangles;
+
+        public GraphicsBuffer gpuVertexBuffer;
+
+        public int vertexCount;
+        public int triangleCount => triangles.count / 3;
+        public int particleCount => particleIndices.count;
+
+        public DynamicRenderBatch(int rendererIndex, int vertexCount, Material[] materials, RenderBatchParams param)
+        {
+            this.renderBatchParams = param;
+            this.materials = materials;
+            this.vertexCount = vertexCount;
+
+            this.firstRenderer = rendererIndex;
+            this.rendererCount = 1;
+        }
+
+        public void Initialize(List<T> renderers,
+                               MeshDataBatch meshData,
+                               ObiNativeList<int> meshIndices,
+                               VertexAttributeDescriptor[] layout,
+                               bool gpu = false)
+        {
+            renderParams = renderBatchParams.ToRenderParams();
+            vertexLayout = layout;
+
+            mesh = new Mesh();
+
+            vertexToRenderer = new ObiNativeList<int>();
+            particleToRenderer = new ObiNativeList<int>();
+            particleIndices = new ObiNativeList<int>();
+
+            dynamicVertexData = new ObiNativeList<DynamicBatchVertex>();
+            staticVertexData = new ObiNativeList<StaticBatchVertex>();
+            triangles = new ObiNativeList<int>();
+
+            // there will be exactly one submesh per material in the output batch.
+            // so we iterate trough materials, and for each one, build a submesh by merging the
+            // renderer's submeshes. If a renderer has less submeshes than materials, reuse the last one.
+
+            SubMeshDescriptor[] descriptors = new SubMeshDescriptor[materials.Length];
+
+            for (int m = 0; m < materials.Length; ++m)
+            {
+                int vertexOffset = 0;
+                var desc = new SubMeshDescriptor();
+                desc.indexStart = triangles.count;
+
+                for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+                {
+                    var renderer = renderers[i];
+                    int meshIndex = meshIndices[i];
+                    int submeshIndex = Mathf.Min(m, renderer.sourceMesh.subMeshCount - 1);
+                    var submeshInfo = renderer.sourceMesh.GetSubMesh(submeshIndex);
+
+                    var meshTriangles = meshData.GetTriangles(meshIndex);
+                    for (int k = 0; k < renderer.meshInstances; ++k)
+                    {
+                        // append submesh triangles:
+                        for (int t = submeshInfo.indexStart; t < submeshInfo.indexStart + submeshInfo.indexCount; ++t)
+                            triangles.Add(vertexOffset + meshTriangles[t]);
+
+                        vertexOffset += meshData.GetVertexCount(meshIndex);
+                    }
+                }
+
+                desc.indexCount = triangles.count - desc.indexStart;
+                descriptors[m] = desc;
+            }
+
+            // vertices:
+            for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+            {
+                var renderer = renderers[i];
+                int meshIndex = meshIndices[i];
+
+                int vCount = meshData.GetVertexCount(meshIndex);
+
+                for (int k = 0; k < renderer.meshInstances; ++k)
+                {
+                    vertexToRenderer.AddReplicate(i, vCount);
+                    particleToRenderer.AddReplicate(i, renderer.actor.solverIndices.count);
+                    particleIndices.AddRange(renderer.actor.solverIndices);
+
+                    var verts = meshData.GetVertices(meshIndex);
+                    var norms = meshData.GetNormals(meshIndex);
+                    var tan = meshData.GetTangents(meshIndex);
+                    var col = meshData.GetColors(meshIndex);
+
+                    var uv = meshData.GetUV(meshIndex);
+                    var uv2 = meshData.GetUV2(meshIndex);
+                    var uv3 = meshData.GetUV3(meshIndex);
+                    var uv4 = meshData.GetUV4(meshIndex);
+
+                    for (int j = 0; j < vCount; ++j)
+                    {
+                        dynamicVertexData.Add(new DynamicBatchVertex
+                        {
+                            pos = verts[j],
+                            normal = norms[j],
+                            tangent = tan[j],
+                            color = j < col.Length ? (Vector4)col[j] : Vector4.one
+                        });
+
+                        staticVertexData.Add(new StaticBatchVertex
+                        {
+                            uv = j < uv.Length ? uv[j] : Vector2.zero,
+                            uv2 = j < uv2.Length ? uv2[j] : Vector2.zero,
+                            uv3 = j < uv3.Length ? uv3[j] : Vector2.zero,
+                            uv4 = j < uv4.Length ? uv4[j] : Vector2.zero,
+                        });
+                    }
+                }
+            }
+
+            // setup combined mesh:
+            mesh.SetVertexBufferParams(vertexCount, layout);
+            mesh.SetIndexBufferParams(triangles.count, IndexFormat.UInt32);
+
+            mesh.SetVertexBufferData(dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), 0, 0, dynamicVertexData.count, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+            mesh.SetVertexBufferData(staticVertexData.AsNativeArray<StaticBatchVertex>(), 0, 0, staticVertexData.count, 1, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            mesh.SetIndexBufferData(triangles.AsNativeArray<int>(), 0, 0, triangles.count, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            // set submeshes:
+            mesh.subMeshCount = materials.Length;
+            for (int m = 0; m < materials.Length; ++m)
+                mesh.SetSubMesh(m, descriptors[m], MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                dynamicVertexData.Dispose();
+
+                mesh.vertexBufferTarget |= GraphicsBuffer.Target.Raw;
+
+                // meshes with no vertices will have no vertex buffer, and Unity will throw an exception.
+                try
+                {
+                    if (mesh.vertexCount > 0)
+                    {
+                        gpuVertexBuffer ??= mesh.GetVertexBuffer(0);
+                    }
+                }
+                catch (Exception e)
+                {
+                    Debug.LogException(e);
+                }
+
+                particleIndices.AsComputeBuffer<int>();
+                vertexToRenderer.AsComputeBuffer<int>();
+                particleToRenderer.AsComputeBuffer<int>();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (vertexToRenderer != null)
+                vertexToRenderer.Dispose();
+            if (particleToRenderer != null)
+                particleToRenderer.Dispose();
+
+            if (particleIndices != null)
+                particleIndices.Dispose();
+
+            if (dynamicVertexData != null)
+                dynamicVertexData.Dispose();
+            if (staticVertexData != null)
+                staticVertexData.Dispose();
+            if (triangles != null)
+                triangles.Dispose();
+
+            gpuVertexBuffer?.Dispose();
+            gpuVertexBuffer = null;
+
+            GameObject.DestroyImmediate(mesh);
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var pbatch = other as DynamicRenderBatch<T>;
+            if (pbatch != null)
+            {
+                if (CompareTo(pbatch) == 0 &&
+                    vertexCount + pbatch.vertexCount < Constants.maxVertsPerMesh)
+                {
+                    rendererCount += pbatch.rendererCount;
+                    vertexCount += pbatch.vertexCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        private static int CompareMaterialLists(Material[] a, Material[] b)
+        {
+            int l = Mathf.Min(a.Length, b.Length);
+            for (int i = 0; i < l; ++i)
+            {
+                if (a[i] == null && b[i] == null)
+                    return 0;
+
+                if (a[i] == null) return -1;
+                if (b[i] == null) return 1;
+
+                int compare = a[i].GetInstanceID().CompareTo(b[i].GetInstanceID());
+                if (compare != 0)
+                    return compare;
+            }
+            return a.Length.CompareTo(b.Length);
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var pbatch = other as DynamicRenderBatch<T>;
+            int result = CompareMaterialLists(materials, pbatch.materials);
+            if (result == 0)
+                return renderBatchParams.CompareTo(pbatch.renderBatchParams);
+            return result;
+        }
+
+        public void BakeMesh(List<T> renderers,
+                             T renderer,
+                             ref Mesh bakedMesh, bool transformToActorLocalSpace = false)
+        {
+            // if the dynamic data is not available (such as when the batch is intended for GPU use), read it back:
+            bool gpu = !dynamicVertexData.isCreated || dynamicVertexData == null;
+            if (gpu)
+            {
+                dynamicVertexData = new ObiNativeList<DynamicBatchVertex>();
+                dynamicVertexData.ResizeUninitialized(this.vertexCount);
+                var nativeArray = dynamicVertexData.AsNativeArray<DynamicBatchVertex>();
+                AsyncGPUReadback.RequestIntoNativeArray(ref nativeArray, gpuVertexBuffer, this.vertexCount * dynamicVertexData.stride, 0).WaitForCompletion();
+            }
+
+            bakedMesh.Clear();
+
+            int vOffset = 0;
+            int tOffset = 0;
+
+            for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+            {
+                // Count vertices of all instances:
+                int vCount = 0;
+                for (int k = 0; k < renderers[i].meshInstances; ++k)
+                    vCount += renderers[i].sourceMesh.vertexCount;
+
+                // Count triangles of all submeshes/instances:
+                int tCount = 0;
+                for (int m = 0; m < materials.Length; ++m)
+                {
+                    int submeshIndex = Mathf.Min(m, renderers[i].sourceMesh.subMeshCount - 1);
+                    var submeshInfo = renderers[i].sourceMesh.GetSubMesh(submeshIndex);
+                    tCount += submeshInfo.indexCount * (int)renderers[i].meshInstances;
+                }
+
+                // if this is the renderer we're interested in, populate the mesh:
+                if (renderers[i].Equals(renderer))
+                {
+                    bakedMesh.SetVertexBufferParams(vCount, vertexLayout);
+                    bakedMesh.SetVertexBufferData(dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), vOffset, 0, vCount, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+                    bakedMesh.SetVertexBufferData(staticVertexData.AsNativeArray<StaticBatchVertex>(), vOffset, 0, vCount, 1, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    // transform vertices from solver space to actor space:
+                    if (transformToActorLocalSpace)
+                    {
+                        var solver2Actor = renderer.actor.actorSolverToLocalMatrix;
+                        var verts = bakedMesh.vertices;
+                        for (int v = 0; v < verts.Length; ++v)
+                            verts[v] = solver2Actor.MultiplyPoint3x4(verts[v]);
+                        bakedMesh.vertices = verts;
+                    }
+
+                    ObiNativeList<int> indices = new ObiNativeList<int>(tCount);
+
+                    // calculate submeshes (one submesh per material):
+                    SubMeshDescriptor[] descriptors = new SubMeshDescriptor[materials.Length];
+                    for (int m = 0; m < materials.Length; ++m)
+                    {
+                        int vertexOffset = 0;
+                        var desc = new SubMeshDescriptor();
+                        desc.indexStart = indices.count;
+
+                        int submeshIndex = Mathf.Min(m, renderer.sourceMesh.subMeshCount - 1);
+                        var submeshInfo = renderer.sourceMesh.GetSubMesh(submeshIndex);
+
+                        for (int k = 0; k < renderer.meshInstances; ++k)
+                        {
+                            // append submesh triangles:
+                            var meshTriangles = renderer.sourceMesh.triangles;
+                            for (int t = submeshInfo.indexStart; t < submeshInfo.indexStart + submeshInfo.indexCount; ++t)
+                                indices.Add(vertexOffset + meshTriangles[t]);
+
+                            vertexOffset += renderer.sourceMesh.vertexCount;
+                        }
+
+                        desc.indexCount = indices.count - desc.indexStart;
+                        descriptors[m] = desc;
+                    }
+
+                    bakedMesh.SetIndexBufferParams(tCount, IndexFormat.UInt32);
+                    bakedMesh.SetIndexBufferData(indices.AsNativeArray<int>(), 0, 0, tCount, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    bakedMesh.subMeshCount = materials.Length;
+                    for (int m = 0; m < materials.Length; ++m)
+                        bakedMesh.SetSubMesh(m, descriptors[m], MeshUpdateFlags.DontValidateIndices);
+
+                    bakedMesh.RecalculateBounds();
+                    return;
+                }
+
+                vOffset += vCount;
+                tOffset += tCount;
+            }
+
+            if (gpu)
+            {
+                dynamicVertexData.Dispose();
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta
new file mode 100644
index 00000000..4d34bf84
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 5bee4cda10f5944149b6f8c90a947c49
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs
new file mode 100644
index 00000000..ef526a53
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs
@@ -0,0 +1,77 @@
+using System;
+using System.Collections.Generic;
+
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public interface IRenderBatch : IComparable<IRenderBatch>
+    {
+        bool TryMergeWith(IRenderBatch other);
+    }
+
+    [Serializable]
+    public struct RenderBatchParams
+    {
+        [HideInInspector] public int layer;
+        public LightProbeUsage lightProbeUsage;
+        public ReflectionProbeUsage reflectionProbeUsage;
+        public ShadowCastingMode shadowCastingMode;
+        public bool receiveShadows;
+        public MotionVectorGenerationMode motionVectors;
+        public uint renderingLayerMask;
+
+        public RenderBatchParams(bool receiveShadow)
+        {
+            layer = 0;
+            lightProbeUsage = LightProbeUsage.BlendProbes;
+            reflectionProbeUsage = ReflectionProbeUsage.BlendProbes;
+            shadowCastingMode = ShadowCastingMode.On;
+            receiveShadows = receiveShadow;
+            motionVectors = MotionVectorGenerationMode.Camera;
+            renderingLayerMask = 0xffffffff;
+        }
+
+        public RenderBatchParams(Renderer renderer)
+        {
+            this.layer = renderer.gameObject.layer;
+            this.lightProbeUsage = renderer.lightProbeUsage;
+            this.reflectionProbeUsage = renderer.reflectionProbeUsage;
+            this.shadowCastingMode = renderer.shadowCastingMode;
+            this.receiveShadows = renderer.receiveShadows;
+            this.motionVectors = renderer.motionVectorGenerationMode;
+            this.renderingLayerMask = renderer.renderingLayerMask;
+        }
+
+        public int CompareTo(RenderBatchParams param)
+        {
+            int cmp = layer.CompareTo(param.layer);
+            if (cmp == 0) cmp = renderingLayerMask.CompareTo(param.renderingLayerMask);
+            if (cmp == 0) cmp = lightProbeUsage.CompareTo(param.lightProbeUsage);
+            if (cmp == 0) cmp = reflectionProbeUsage.CompareTo(param.reflectionProbeUsage);
+            if (cmp == 0) cmp = shadowCastingMode.CompareTo(param.shadowCastingMode);
+            if (cmp == 0) cmp = receiveShadows.CompareTo(param.receiveShadows);
+            if (cmp == 0) cmp = motionVectors.CompareTo(param.motionVectors);
+
+            return cmp;
+        }
+
+        public RenderParams ToRenderParams()
+        {
+            var renderParams = new RenderParams();
+
+            // URP and HDRP don't work without this line.
+            renderParams.renderingLayerMask = GraphicsSettings.defaultRenderingLayerMask;
+
+            renderParams.lightProbeUsage = lightProbeUsage;
+            renderParams.reflectionProbeUsage = reflectionProbeUsage;
+            renderParams.shadowCastingMode = shadowCastingMode;
+            renderParams.receiveShadows = receiveShadows;
+            renderParams.motionVectorMode = motionVectors;
+            renderParams.renderingLayerMask = renderingLayerMask;
+            renderParams.layer = layer;
+            return renderParams;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta
new file mode 100644
index 00000000..ae666aba
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs
new file mode 100644
index 00000000..7883fba4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs
@@ -0,0 +1,141 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ChunkData
+    {
+        public int rendererIndex;
+        public int offset; // index of the first element for each chunk.
+
+        public ChunkData(int rendererIndex, int offset)
+        {
+            this.rendererIndex = rendererIndex;
+            this.offset = offset;
+        }
+    }
+
+    public class InstancedRenderBatch : IRenderBatch
+    {
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Mesh mesh;
+        public Material material;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public int firstInstance;
+        public int instanceCount;
+
+        public GraphicsBuffer argsBuffer; 
+
+        public InstancedRenderBatch(int rendererIndex, Mesh mesh, Material material, RenderBatchParams renderBatchParams)
+        {
+            this.renderBatchParams = renderBatchParams;
+            this.firstRenderer = rendererIndex;
+            this.rendererCount = 1;
+            this.mesh = mesh;
+            this.material = material;
+            this.firstInstance = 0;
+            this.instanceCount = 0;
+        }
+
+        public void Initialize(bool gpu = false)
+        {
+            renderParams = renderBatchParams.ToRenderParams();
+
+            if (gpu)
+                argsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 1, 5 * sizeof(uint));
+        }
+
+        public void Dispose()
+        {
+            argsBuffer?.Dispose();
+            argsBuffer = null;
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var ibatch = other as InstancedRenderBatch;
+            if (ibatch != null)
+            {
+                if (CompareTo(ibatch) == 0 &&
+                    instanceCount + ibatch.instanceCount < Constants.maxInstancesPerBatch)
+                {
+                    rendererCount += ibatch.rendererCount;
+                    instanceCount += ibatch.instanceCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var ibatch = other as InstancedRenderBatch;
+
+            int idA = material != null ? material.GetInstanceID() : 0;
            int idB = (ibatch != null && ibatch.material != null) ? ibatch.material.GetInstanceID() : 0;
+
+            int compareMat = idA.CompareTo(idB);
+            if (compareMat == 0)
+            {
+                idA = mesh != null ? mesh.GetInstanceID() : 0;
+                idB = (ibatch != null && ibatch.mesh != null) ? ibatch.mesh.GetInstanceID() : 0;
+                compareMat = idA.CompareTo(idB);
+
+                if (compareMat == 0)
+                    return renderBatchParams.CompareTo(ibatch.renderBatchParams);
+            }
+
+            return compareMat;
+        }
+
+        public void BakeMesh<T>(RendererSet<T> renderers, T renderer, ObiNativeList<ChunkData> chunkData,
+                             ObiNativeList<Matrix4x4> instanceTransforms,
+                             Matrix4x4 transform,
+                             ref Mesh bakedMesh, bool transformVertices = false) where T:ObiRenderer<T>
+        {
+             
+            // if the data is not available in the CPU (such as when the batch is intended for GPU use), read it back:
+            bool gpu = argsBuffer != null && argsBuffer.IsValid();
+            if (gpu)
+            {
+                instanceTransforms.Readback(false);
+            }
+
+            List<CombineInstance> combineInstances = new List<CombineInstance>();
+
+            bakedMesh.Clear();
+
+            for (int i = 0; i < chunkData.count; ++i)
+            {
+                // if this chunk's renderer is the renderer we are interested in,
+                // append its instances to the mesh.
+                if (renderers[chunkData[i].rendererIndex].Equals(renderer))
+                {
+                    int firstIndex = i > 0 ? chunkData[i - 1].offset : 0;
+                    int elementCount = chunkData[i].offset - firstIndex;
+
+                    for (int m = 0; m < elementCount; ++m)
+                    {
+                        combineInstances.Add(new CombineInstance
+                        {
+                            mesh = mesh,
+                            transform = transformVertices ? transform * instanceTransforms[firstIndex + m] : instanceTransforms[firstIndex + m]
+                        });
+                    }
+                }
+            }
+
+            bakedMesh.CombineMeshes(combineInstances.ToArray(), true, true, false);
+            bakedMesh.RecalculateBounds();
+
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta
new file mode 100644
index 00000000..9c35abb1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta
@@ -0,0 +1,11 @@
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs
new file mode 100644
index 00000000..3c8f4d5e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs
@@ -0,0 +1,180 @@
+
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Collections;
+using System.Collections.Generic;
+using Unity.Collections.LowLevel.Unsafe;
+
+namespace Obi
+{
+
+    public class ProceduralRenderBatch<T> : IRenderBatch where T : struct
+    {
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Material material;
+        public Mesh mesh;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public int firstParticle;
+
+        public NativeArray<T> vertices;
+        public NativeArray<int> triangles;
+
+        public GraphicsBuffer gpuVertexBuffer;
+        public GraphicsBuffer gpuIndexBuffer;
+
+        public int vertexCount;
+        public int triangleCount;
+
+        public ProceduralRenderBatch(int rendererIndex, Material material, RenderBatchParams param)
+        {
+            this.renderBatchParams = param;
+
+            this.material = material;
+            this.firstRenderer = rendererIndex;
+            this.firstParticle = 0;
+            this.rendererCount = 1;
+            this.vertexCount = 0;
+            this.triangleCount = 0;
+        }
+
+        public void Initialize(VertexAttributeDescriptor[] layout, bool gpu = false)
+        {
+            var rp = renderBatchParams.ToRenderParams();
+            rp.material = material;
+            renderParams = rp;
+
+            mesh = new Mesh();
+
+            mesh.SetVertexBufferParams(vertexCount, layout);
+            mesh.SetIndexBufferParams(triangleCount * 3, IndexFormat.UInt32);
+
+            vertices = new NativeArray<T>(vertexCount, Allocator.Persistent);
+            mesh.SetVertexBufferData(vertices, 0, 0, vertices.Length, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            triangles = new NativeArray<int>(triangleCount * 3, Allocator.Persistent);
+            mesh.SetIndexBufferData(triangles, 0, 0, triangles.Length, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            mesh.subMeshCount = 1;
+            SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor();
+            subMeshDescriptor.indexCount = triangleCount * 3;
+            mesh.SetSubMesh(0, subMeshDescriptor, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                vertices.Dispose();
+                triangles.Dispose();
+
+                mesh.vertexBufferTarget |= GraphicsBuffer.Target.Raw;
+                mesh.indexBufferTarget |= GraphicsBuffer.Target.Raw;
+
+                // particles with no vertices will have no vertex buffer, and Unity will throw an exception.
+                if (mesh.vertexCount > 0)
+                {
+                    gpuVertexBuffer ??= mesh.GetVertexBuffer(0);
+                    gpuIndexBuffer ??= mesh.GetIndexBuffer();
+                }
+            }
+        }
+
+        public void Dispose()
+        {
+            gpuVertexBuffer?.Dispose();
+            gpuIndexBuffer?.Dispose();
+
+            gpuVertexBuffer = null;
+            gpuIndexBuffer = null;
+
+            if (vertices.IsCreated)
+                vertices.Dispose();
+            if (triangles.IsCreated)
+                triangles.Dispose();
+
+            GameObject.DestroyImmediate(mesh);
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var pbatch = other as ProceduralRenderBatch<T>;
+            if (pbatch != null)
+            {
+                if (CompareTo(pbatch) == 0 &&
+                    vertexCount + pbatch.vertexCount < Constants.maxVertsPerMesh)
+                {
+                    rendererCount += pbatch.rendererCount;
+                    triangleCount += pbatch.triangleCount;
+                    vertexCount += pbatch.vertexCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var pbatch = other as ProceduralRenderBatch<T>;
            int idA = material != null ? material.GetInstanceID() : 0;
            int idB = (pbatch != null && pbatch.material != null) ? pbatch.material.GetInstanceID() : 0;

            int result = idA.CompareTo(idB);
            if (result == 0)
                return renderBatchParams.CompareTo(pbatch.renderBatchParams);
            return result;
+        }
+
+        public void BakeMesh(int vertexOffset, int vertexCount, int triangleOffset, int triangleCount,
+                             Matrix4x4 transform,
+                             ref Mesh bakedMesh, bool transformVertices = false)
+        {
+
+            // if the data is not available in the CPU (such as when the batch is intended for GPU use), read it back:
+            bool gpu = !vertices.IsCreated;
+            if (gpu)
+            {
+                vertices = new NativeArray<T>(this.vertexCount, Allocator.Persistent);
+                triangles = new NativeArray<int>(this.triangleCount * 3, Allocator.Persistent);
+                AsyncGPUReadback.RequestIntoNativeArray(ref vertices, gpuVertexBuffer, this.vertexCount * UnsafeUtility.SizeOf<T>(), 0).WaitForCompletion();
+                AsyncGPUReadback.RequestIntoNativeArray(ref triangles, gpuIndexBuffer, this.triangleCount * 3 * 4, 0).WaitForCompletion();
+            }
+
+            bakedMesh.Clear();
+
+            bakedMesh.SetVertexBufferParams(vertexCount, mesh.GetVertexAttributes());
+            bakedMesh.SetVertexBufferData(vertices, vertexOffset, 0, vertexCount, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            // transform vertices from solver space to actor space:
+            if (transformVertices)
+            {
+                var solver2Actor = transform; 
+                var verts = bakedMesh.vertices;
+                for (int v = 0; v < verts.Length; ++v)
+                    verts[v] = solver2Actor.MultiplyPoint3x4(verts[v]);
+                bakedMesh.vertices = verts;
+            }
+
+            ObiNativeList<int> indices = new ObiNativeList<int>(triangleCount * 3);
+
+            // offset indices:
+            for (int i = 0; i < triangleCount * 3; ++i)
+                indices.Add(triangles[triangleOffset * 3 + i] - vertexOffset);
+
+            bakedMesh.SetIndexBufferParams(triangleCount * 3, IndexFormat.UInt32);
+            bakedMesh.SetIndexBufferData(indices.AsNativeArray<int>(), 0, 0, triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            bakedMesh.subMeshCount = 1;
+            SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor();
+            subMeshDescriptor.indexCount = triangleCount * 3; // mesh triangle count.
+            bakedMesh.SetSubMesh(0, subMeshDescriptor, MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                if (vertices.IsCreated)
+                    vertices.Dispose();
+                if (triangles.IsCreated)
+                    triangles.Dispose();
+            }
+
+            bakedMesh.RecalculateBounds();
+            return;
+
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta
new file mode 100644
index 00000000..326186ae
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver.meta b/xiaofang/Assets/Obi/Scripts/Common/Solver.meta
new file mode 100644
index 00000000..be27f843
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 9b70354c2a8424c0d85f24922c2fd48d
+folderAsset: yes
+timeCreated: 1448942583
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs
new file mode 100644
index 00000000..5f2ecf8d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs
@@ -0,0 +1,225 @@
+using System.Collections.Generic;
+using System.Linq;
+
+#if UNITY_EDITOR
+using UnityEditor;
+using UnityEditor.SceneManagement;
+#endif
+using UnityEngine;
+
+namespace Obi
+{
+    [ExecuteAlways]
+    public class ObiActorEditorSelectionHandler
+    {
+        private static HashSet<ObiSolver> solvers = new HashSet<ObiSolver>();
+        private static ObiSolver clickedSolver;
+        private static int particleIndex;
+
+        #if UNITY_EDITOR
+        internal static void SolverInitialized(ObiSolver solver)
+        {
+            if (solver != null)
+            {
+                if (solvers.Count == 0)
+                    Init();
+
+                if (solver != null)
+                    solvers.Add(solver);
+            }
+ 
+        }
+
+        internal static void SolverTeardown(ObiSolver solver)
+        {
+            if (solver != null)
+            {
+                solvers.Remove(solver);
+
+                if (solvers.Count == 0)
+                    Dispose();
+            }
+        }
+
+        internal static void Init()
+        {
+            SceneView.duringSceneGui += SceneGui;
+        }
+
+        internal static void Dispose()
+        {
+            SceneView.duringSceneGui -= SceneGui;
+        }
+
+        private static bool RaycastAgainstSolver(ObiSolver solver, Ray ray, float thickness, out int pIndex, out float distance)
+        {
+            float closestDistanceToRay = float.MaxValue;
+            pIndex = -1;
+            distance = float.MaxValue;
+
+            Matrix4x4 solver2World = solver.transform.localToWorldMatrix;
+
+            // Find the closest particle hit by the ray:
+            for (int i = 0; i < solver.activeParticleCount; ++i)
+            {
+                int p = solver.activeParticles[i];
+
+                Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.positions[p]);
+                Vector3 projected = ObiUtils.ProjectPointLine(ray.origin, ray.origin + ray.direction, worldPos, out float mu, false);
+
+                // Disregard particles behind the camera:
+                if (mu < 0)
+                    continue;
+
+                float radius = solver.principalRadii[p][0] + thickness;
+                float distanceToRay = Vector3.SqrMagnitude(worldPos - projected);
+
+                if (distanceToRay <= radius * radius &&
+                    distanceToRay < closestDistanceToRay &&
+                    mu < closestDistanceToRay)
+                {
+                    distance = mu;
+                    closestDistanceToRay = distanceToRay;
+                    pIndex = p;
+                }
+            }
+
+            return pIndex >= 0;
+        }
+
+        private static ObiSolver RaycastAllSolvers(Ray ray, out int pIndex, out float distance)
+        {
+            distance = float.MaxValue;
+            pIndex = -1;
+
+            ObiSolver hitSolver = null;
+            
+            foreach (ObiSolver s in solvers)
+            {
+                if (s == null || !s.bounds.IntersectRay(ray))
+                    continue;
+
+                if (RaycastAgainstSolver(s, ray, 0, out int p, out float d))
+                {
+                    if (d < distance)
+                    {
+                        distance = d;
+                        hitSolver = s;
+                        pIndex = p;
+                    }
+                }
+            }
+            return hitSolver;
+        }
+
+        private static void SceneGui(SceneView sceneView)
+        {
+            if (EditorApplication.isPaused || !ObiEditorSettings.GetOrCreateSettings().sceneViewParticlePicking)
+                return;
+
+            // only do this in the main stage or prefab stage, if we're in any other stage don't raycast against particles.
+            // This will prevent selecting stuff when in the blueprint editor, avatar editor, or other stages.
+            var stage = StageUtility.GetCurrentStage();
+            if (!(stage is MainStage) && !(stage is PrefabStage))
+                return;
+
+            var evt = Event.current;
+
+            if (evt.alt)
+                return;
+
+            float ppp = EditorGUIUtility.pixelsPerPoint;
+            int mouseScreenX = (int)(evt.mousePosition.x * ppp);
+            int mouseScreenY = (int)(evt.mousePosition.y * ppp);
+
+            if (mouseScreenX < 0 || mouseScreenX >= sceneView.camera.pixelWidth ||
+                mouseScreenY < 0 || mouseScreenY >= sceneView.camera.pixelHeight)
+                return;
+
+            int controlID = GUIUtility.GetControlID(FocusType.Passive);
+
+            switch (evt.type)
+            {
+                case EventType.Layout:
+                case EventType.MouseMove:
+
+                    if (!Tools.viewToolActive)
+                    {
+                        // Raycast against all solvers:
+                        Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+                        clickedSolver = RaycastAllSolvers(ray, out particleIndex, out float closest);
+
+                        // check whether we hit a collider before the closest particle in the solver:
+                        RaycastHit hit;
+                        ray = HandleUtility.GUIPointToWorldRay(evt.mousePosition);
+                        if (Physics.Raycast(ray, out hit, closest) && hit.collider != null)
+                            clickedSolver = null;
+
+                        // If we hit something, register our control ID and the distance to the particle:
+                        if (clickedSolver != null && Camera.current != null)
+                        {
+                            var worldPos = clickedSolver.transform.TransformPoint(clickedSolver.positions[particleIndex]);
+                            var screenCenter = HandleUtility.WorldToGUIPoint(worldPos);
+
+                            var distance = (Event.current.mousePosition - screenCenter).magnitude;
+
+                            HandleUtility.AddControl(controlID, distance);
+
+                            // AddDefaultControl means that if no other control is selected, this will be chosen as the fallback. 
+                            // This allows things like the translate handle and buttons to function. 
+                            HandleUtility.AddDefaultControl(controlID);
+                        }
+                    }
+
+                    break;
+
+                case EventType.MouseDown:
+
+                    if (evt.button == 0 && HandleUtility.nearestControl == controlID && clickedSolver != null)
+                    {
+                        // Setting the hotControl tells the Scene View that this mouse down/up event cannot be considered 
+                        // a picking action because the event is in use. 
+                        GUIUtility.hotControl = controlID;
+                        evt.Use();
+                    }
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (!Tools.viewToolActive && GUIUtility.hotControl == controlID)
+                    {
+                        // In case we hit some actor, select the actor it belongs to:
+                        if (clickedSolver != null)
+                        {
+                            var clickedActor = clickedSolver.particleToActor[particleIndex].actor;
+                            if (clickedActor != null)
+                            {
+                                var selection = Selection.objects.ToList();
+
+                                if (evt.shift || evt.control)
+                                {
+                                    if (selection.Contains(clickedActor.gameObject))
+                                        selection.Remove(clickedActor.gameObject);
+                                    else
+                                        selection.Add(clickedActor.gameObject);
+                                }
+                                else
+                                {
+                                    selection.Clear();
+                                    selection.Add(clickedActor.gameObject);
+                                }
+
+                                Selection.objects = selection.ToArray(); 
+                            }
+
+                            GUIUtility.hotControl = 0;
+                            evt.Use();
+                        }
+                    }
+
+                    break;
+            }
+        }
+#endif
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta
new file mode 100644
index 00000000..45364165
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta
@@ -0,0 +1,11 @@
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+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs
new file mode 100644
index 00000000..d88159ff
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs
@@ -0,0 +1,92 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    /**
+     * Render Systems are organized into a fixed number of tiers. Tiers are update sequentially from lower to highest, so systems on
+     * a higher tier may depend on the output of lower tier systems.
+     * All systems in the same tier might be updated in parallel.
+     */
+    public class ObiRenderSystemStack
+    {
+        private List<IRenderSystem>[] stack;
+
+        public ObiRenderSystemStack(int tiers)
+        {
+            stack = new List<IRenderSystem>[tiers];
+            for (int i = 0; i < tiers; ++i)
+                stack[i] = new List<IRenderSystem>();
+        }
+
+        public void Setup(int dirtyFlags)
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if ((dirtyFlags & (int)system.typeEnum) != 0)
+                        system.Setup();
+        }
+
+        public void Step()
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    system.Step();
+        }
+
+        public void Render()
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    system.Render();
+        }
+
+        public bool RegisterRenderSystem(IRenderSystem renderSystem)
+        {
+            if (renderSystem != null)
+            {
+                // Here we don't check whether the render system already exists:
+                // We assume this is done before calling AddRenderSystem
+                // (by calling GetRenderSystem first).
+                // Otherwise, no guarantees a render system cannot be registered twice.
+                if (renderSystem.tier >= 0 && renderSystem.tier < stack.Length)
+                {
+                    stack[renderSystem.tier].Add(renderSystem);
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public bool UnregisterRenderSystem(IRenderSystem renderSystem)
+        {
+            if (renderSystem != null)
+            {
+                if (renderSystem.tier >= 0 && renderSystem.tier < stack.Length)
+                {
+                    stack[renderSystem.tier].Remove(renderSystem);
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public RenderSystem<T> GetRenderSystem<T>() where T : ObiRenderer<T>
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if (system.GetRendererType() == typeof(T))
+                        return system as RenderSystem<T>;
+            return null;
+        }
+
+        public IRenderSystem GetRenderSystem(Oni.RenderingSystemType systemType)
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if (system.typeEnum == systemType)
+                        return system as IRenderSystem;
+            return null;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta
new file mode 100644
index 00000000..69b7e454
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 789afc50914b2412e87a032744b17fd3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
new file mode 100644
index 00000000..28df4ab6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
@@ -0,0 +1,2425 @@
+/**
+\mainpage Obi documentation
+ 
+Introduction:
+------------- 
+
+Obi is a position-based dynamics framework for unity. It enables the simulation of cloth, ropes and fluid in realtime, complete with two-way
+rigidbody interaction.
+ 
+Features:
+-------------------
+
+- Particles can be pinned both in local space and to rigidbodies (kinematic or not).
+- Realistic wind forces.
+- Rigidbodies react to particle dynamics, and particles reach to each other and to rigidbodies too.
+- Easy prefab instantiation, particle-based actors can be translated, scaled and rotated.
+- Custom editor tools.
+
+*/
+
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Collections;
+
+namespace Obi
+{
+
+    /**
+     * ObiSolver simulates particles and constraints, provided by a list of ObiActor. Particles belonging to different solvers won't interact with each other in any way.
+     */
+    [AddComponentMenu("Physics/Obi/Obi Solver", 800)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public sealed class ObiSolver : MonoBehaviour
+    {
+        static ProfilerMarker m_StateInterpolationPerfMarker = new ProfilerMarker("ApplyStateInterpolation");
+        static ProfilerMarker m_UpdateVisibilityPerfMarker = new ProfilerMarker("UpdateVisibility");
+        static ProfilerMarker m_GetSolverBoundsPerfMarker = new ProfilerMarker("GetSolverBounds");
+        static ProfilerMarker m_TestBoundsPerfMarker = new ProfilerMarker("TestBoundsAgainstCameras");
+        static ProfilerMarker m_GetAllCamerasPerfMarker = new ProfilerMarker("GetAllCameras");
+        static ProfilerMarker m_PushActiveParticles = new ProfilerMarker("PushActiveParticles");
+        static ProfilerMarker m_UpdateColliderWorld = new ProfilerMarker("UpdateColliderWorld");
+        static ProfilerMarker m_PushSimplices = new ProfilerMarker("PushSimplices");
+        static ProfilerMarker m_PushDeformableEdges = new ProfilerMarker("PushDeformableEdges");
+        static ProfilerMarker m_PushDeformableTriangles = new ProfilerMarker("PushDeformableTriangles");
+
+        public enum BackendType
+        {
+            [InspectorName("Compute (GPU)")]
+            Compute,
+            [InspectorName("Burst (CPU)")]
+            Burst
+        }
+
+        public enum Synchronization
+        {
+            Asynchronous,
+            Synchronous,
+            SynchronousFixed
+        }
+
+        [Serializable]
+        public class ParticleInActor
+        {
+            public ObiActor actor;
+            public int indexInActor;
+
+            public ParticleInActor()
+            {
+                actor = null;
+                indexInActor = -1;
+            }
+
+            public ParticleInActor(ObiActor actor, int indexInActor)
+            {
+                this.actor = actor;
+                this.indexInActor = indexInActor;
+            }
+        }
+
+        public class SpatialQuery
+        {
+            public ObiNativeQueryShapeList shapes;
+            public ObiNativeAffineTransformList transforms;
+            public ObiNativeQueryResultList results;
+            public Action callback;
+            public bool synchronous = false;
+
+            public bool isValid => shapes != null && transforms != null && results != null && shapes.count > 0 && transforms.count > 0;
+            public bool done => results.noReadbackInFlight;
+
+            public SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results, Action callback = null, bool synchronous = false)
+            {
+                this.shapes = shapes;
+                this.transforms = transforms;
+                this.results = results;
+                this.callback = callback;
+                this.synchronous = synchronous;
+            }
+
+            public void WaitForCompletion()
+            {
+                results.WaitForReadback();
+            }
+        }
+
+        public delegate void SolverCallback(ObiSolver solver);
+        public delegate void SolverStepCallback(ObiSolver solver, float timeToSimulate, float substepTime);
+        public delegate void CollisionCallback(ObiSolver solver, ObiNativeContactList contacts);
+        public delegate void SpatialQueryCallback(ObiSolver solver, ObiNativeQueryResultList results);
+
+        public event CollisionCallback OnCollision;
+        public event CollisionCallback OnParticleCollision;
+        public event SpatialQueryCallback OnSpatialQueryResults;
+        public event SolverCallback OnAdvection;
+
+        public event SolverCallback OnInitialize;
+        public event SolverCallback OnTeardown;
+        public event SolverCallback OnUpdateParameters;
+        public event SolverCallback OnParticleCountChanged;
+
+        public event SolverStepCallback OnSimulationStart; /**< Called at the start of physics simulation, before updating active particles, constraints, etc.*/
+        public event SolverCallback OnRequestReadback;
+        public event SolverStepCallback OnSimulationEnd; /**< Called at the end of physics simulation.*/
+        public event SolverStepCallback OnInterpolate; /**< Called every frame after interpolation, right before updating rendering.*/
+
+        [Tooltip("If enabled, will force the solver to keep simulating even when not visible from any camera.")]
+        public bool simulateWhenInvisible = true;
+
+        private IObiBackend m_SimulationBackend =
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+        new BurstBackend();
+#else
+        new NullBackend();
+#endif
+
+        [SerializeField] private BackendType m_Backend = BackendType.Burst;
+        private ObiRenderSystemStack m_RenderSystems = new ObiRenderSystemStack(3);
+
+        [Min(1)]
+        public int substeps = 4;
+
+        [Min(0)]
+        public int maxStepsPerFrame = 1;
+
+        public Synchronization synchronization = Synchronization.Asynchronous;
+
+        public Oni.SolverParameters parameters = new Oni.SolverParameters(Oni.SolverParameters.Interpolation.None,
+                                                                          new Vector4(0, -9.81f, 0, 0));
+
+        [Min(32)]
+        [SerializeField]
+        private uint m_MaxSurfaceChunks = 32768;
+        public uint maxSurfaceChunks
+        {
+            set
+            {
+                // make sure anytime active particles need to be updated, simplices will be updated too:
+                m_MaxSurfaceChunks = value;
+                dirtyRendering |= (int)Oni.RenderingSystemType.Fluid;
+            }
+            get { return m_MaxSurfaceChunks; }
+        }
+
+        public uint usedSurfaceChunks
+        {
+            get {
+                var system = GetRenderSystem(Oni.RenderingSystemType.Fluid) as ISurfaceChunkUser;
+                if (system == null)
+                    return 0;
+                return system.usedChunkCount;
+            }
+        }
+
+        public uint maxQueryResults = 8192;
+        public uint maxFoamParticles = 8192;
+        public uint maxParticleNeighbors = 128;
+        public uint maxParticleContacts = 6;
+
+        public Vector3 gravity = new Vector3(0, -9.81f, 0);
+        public Space gravitySpace = Space.Self;
+
+        public Vector3 ambientWind = new Vector3(0, 0, 0);
+        public Space windSpace = Space.Self;
+
+        [Min(1)]
+        public int foamSubsteps = 1;
+
+        [Tooltip("Foam particles can stretch along the direction of their velocity. This parameter controls the maximum amount of stretch.")]
+        [Range(0, 3)]
+        public float maxFoamVelocityStretch = 0.3f;
+
+        [Tooltip("Determines how foam particles fade in/out during its lifetime.")]
+        [MinMax(0, 1)]
+        public Vector2 foamFade = new Vector2(0.05f, 0.8f);
+
+        [Tooltip("Determines the utilization % range in which particles age faster.")]
+        [MinMax(0, 1)]
+        public Vector2 foamAccelAgingRange = new Vector2(0.5f, 0.8f);
+
+        [Tooltip("Determines the utilization % range in which particles age faster.")]
+        [Min(1)]
+        public float foamAccelAging = 4;
+
+        [Tooltip("How much does world-space linear inertia affect particles in the solver.")]
+        [Range(0, 1)]
+        public float worldLinearInertiaScale = 0;           /**< how much does world-space linear inertia affect particles in the solver*/
+
+        [Tooltip("How much does world-space angular inertia affect particles in the solver.")]
+        [Range(0, 1)]
+        public float worldAngularInertiaScale = 0;          /**< how much does world-space angular inertia affect particles in the solver.*/
+
+        [HideInInspector] [NonSerialized] public List<ObiActor> actors = new List<ObiActor>();
+        [HideInInspector] [NonSerialized] private ParticleInActor[] m_ParticleToActor;
+
+        [HideInInspector] [NonSerialized] private Queue<ObiActor> addBuffer = new Queue<ObiActor>(); /**< actors pending insertion into the solver.*/
+
+        private ObiNativeIntList freeList;
+        private Stack<int> freeGroupIDs = new Stack<int>();
+
+        [NonSerialized] public ObiNativeIntList deformableTriangles;
+        [NonSerialized] public ObiNativeIntList deformableEdges;
+        [NonSerialized] public ObiNativeVector2List deformableUVs;
+
+        [NonSerialized] private ObiNativeIntList m_Points;      /**< 0-simplices*/
+        [NonSerialized] private ObiNativeIntList m_Edges;       /**< 1-simplices*/
+        [NonSerialized] private ObiNativeIntList m_Triangles;   /**< 2-simplices*/
+        [NonSerialized] public SimplexCounts m_SimplexCounts;
+
+        [NonSerialized] private IObiJobHandle simulationHandle;
+        [NonSerialized] private Synchronization bufferedSynchronization;
+        [NonSerialized] private int steps = 0;
+        [NonSerialized] private float substepTime = 0;
+        [NonSerialized] private float simulatedTime = 0;
+        [NonSerialized] private float accumulatedTime = 0;
+
+        public float timeSinceSimulationStart { get; private set; } = 0;
+
+        [HideInInspector] [NonSerialized] public bool dirtyDeformableTriangles = true;
+        [HideInInspector] [NonSerialized] public bool dirtyDeformableEdges = true;
+        [HideInInspector] [NonSerialized] public Oni.SimplexType dirtySimplices = Oni.SimplexType.All;
+        [HideInInspector] [NonSerialized] public int dirtyRendering = 0;
+        [HideInInspector] [NonSerialized] public int dirtyConstraints = 0;
+
+        public bool synchronousSpatialQueries = false;
+
+        private bool m_dirtyActiveParticles = true;
+        public bool dirtyActiveParticles
+        {
+            set
+            {
+                m_dirtyActiveParticles = value;
+            }
+            get { return m_dirtyActiveParticles; }
+        }
+
+        private Bounds m_Bounds = new Bounds();
+        private Bounds m_BoundsWS = new Bounds();
+        private Plane[] planes = new Plane[6];
+        private Camera[] sceneCameras = new Camera[1];
+
+        // constraints:
+        [NonSerialized] private IObiConstraints[] m_Constraints = new IObiConstraints[Oni.ConstraintTypeCount];
+
+        // constraint parameters:
+        public Oni.ConstraintParameters distanceConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters bendingConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters particleCollisionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters particleFrictionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters collisionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters frictionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters skinConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters volumeConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters shapeMatchingConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters tetherConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters pinConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters stitchConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters densityConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters stretchShearConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters bendTwistConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters chainConstraintParameters = new Oni.ConstraintParameters(false, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+
+        // rigidbodies:
+        ObiNativeVector4List m_RigidbodyLinearVelocities;
+        ObiNativeVector4List m_RigidbodyAngularVelocities;
+
+        // colors:
+        [NonSerialized] private ObiNativeColorList m_Colors;
+
+        // cell indices:
+        [NonSerialized] private ObiNativeInt4List m_CellCoords;
+
+        // status:
+        [NonSerialized] private ObiNativeIntList m_ActiveParticles;
+        [NonSerialized] private ObiNativeIntList m_Simplices;
+
+        // positions:
+        [NonSerialized] private ObiNativeVector4List m_Positions;
+        [NonSerialized] private ObiNativeVector4List m_PrevPositions;
+        [NonSerialized] private ObiNativeVector4List m_RestPositions;
+
+        [NonSerialized] private ObiNativeVector4List m_StartPositions;
+        [NonSerialized] private ObiNativeVector4List m_EndPositions;
+        [NonSerialized] private ObiNativeVector4List m_RenderablePositions;
+
+        // orientations:
+        [NonSerialized] private ObiNativeQuaternionList m_Orientations;
+        [NonSerialized] private ObiNativeQuaternionList m_PrevOrientations;
+        [NonSerialized] private ObiNativeQuaternionList m_RestOrientations;
+
+        [NonSerialized] private ObiNativeQuaternionList m_StartOrientations;
+        [NonSerialized] private ObiNativeQuaternionList m_EndOrientations;
+        [NonSerialized] private ObiNativeQuaternionList m_RenderableOrientations; /**< renderable particle orientations.*/
+
+        // velocities:
+        [NonSerialized] private ObiNativeVector4List m_Velocities;
+        [NonSerialized] private ObiNativeVector4List m_AngularVelocities;
+
+        // masses tensors:
+        [NonSerialized] private ObiNativeFloatList m_InvMasses;
+        [NonSerialized] private ObiNativeFloatList m_InvRotationalMasses;
+
+        // external forces:
+        [NonSerialized] private ObiNativeVector4List m_ExternalForces;
+        [NonSerialized] private ObiNativeVector4List m_ExternalTorques;
+        [NonSerialized] private ObiNativeVector4List m_Wind;
+
+        // deltas:
+        [NonSerialized] private ObiNativeVector4List m_PositionDeltas;
+        [NonSerialized] private ObiNativeQuaternionList m_OrientationDeltas;
+        [NonSerialized] private ObiNativeIntList m_PositionConstraintCounts;
+        [NonSerialized] private ObiNativeIntList m_OrientationConstraintCounts;
+
+        // particle collisions:
+        [NonSerialized] private ObiNativeIntList m_CollisionMaterials;
+        [NonSerialized] private ObiNativeIntList m_Phases;
+        [NonSerialized] private ObiNativeIntList m_Filters;
+
+        // particle shape:
+        [NonSerialized] private ObiNativeVector4List m_PrincipalRadii;
+        [NonSerialized] private ObiNativeVector4List m_RenderableRadii;
+        [NonSerialized] private ObiNativeVector4List m_Normals;
+
+        // fluids:
+        [NonSerialized] private ObiNativeFloatList m_Life;
+        [NonSerialized] private ObiNativeVector4List m_FluidData;
+        [NonSerialized] private ObiNativeVector4List m_FluidMaterials; /**< fluidRadius / surfTension / viscosity / vorticity */
+        [NonSerialized] private ObiNativeVector4List m_FluidInterface; /**< drag / pressure / buoyancy / miscibility */
+        [NonSerialized] private ObiNativeVector4List m_UserData;
+        [NonSerialized] private ObiNativeMatrix4x4List m_Anisotropy;
+
+        // foam particles:
+        [NonSerialized] private ObiNativeVector4List m_FoamPositions;  /**< xyz = position, w = amount of neighbors*/
+        [NonSerialized] private ObiNativeVector4List m_FoamVelocities; /**< xyz = velocity, w = buoyancy*/
+        [NonSerialized] private ObiNativeVector4List m_FoamColors;
+        [NonSerialized] private ObiNativeVector4List m_FoamAttributes; /**< life, aging rate, size, drag*/
+        [NonSerialized] private ObiNativeIntList m_FoamCount;
+
+        // contacts:
+        [NonSerialized] private ObiNativeContactList m_ColliderContacts;
+        [NonSerialized] private ObiNativeContactList m_ParticleContacts;
+        [NonSerialized] private ObiNativeEffectiveMassesList m_ContactEffectiveMasses;
+        [NonSerialized] private ObiNativeEffectiveMassesList m_ParticleContactEffectiveMasses;
+
+        // queries:
+        [NonSerialized] private ObiNativeQueryShapeList m_BufferedQueryShapes;
+        [NonSerialized] private ObiNativeAffineTransformList m_BufferedQueryTransforms;
+        [NonSerialized] private ObiNativeQueryShapeList m_QueryShapes;
+        [NonSerialized] private ObiNativeAffineTransformList m_QueryTransforms;
+        [NonSerialized] private ObiNativeQueryResultList m_QueryResults;
+
+        public ISolverImpl implementation { get; private set; }
+
+        public bool initialized
+        {
+            get { return implementation != null; }
+        }
+
+        public IObiBackend simulationBackend
+        {
+            get { return m_SimulationBackend; }
+        }
+
+        public BackendType backendType
+        {
+            set
+            {
+                if (m_Backend != value)
+                {
+                    m_Backend = value;
+                    UpdateBackend();
+                }
+            }
+            get { return m_Backend; }
+        }
+
+        public SimplexCounts simplexCounts
+        {
+            get { return m_SimplexCounts; }
+        }
+
+        /// <summary>
+        /// Solver bounds expressed in world space. 
+        /// </summary>
+        public UnityEngine.Bounds bounds
+        {
+            get { return m_BoundsWS; }
+        }
+
+        /// <summary>
+        /// Solver bounds expressed in the solver's local space. 
+        /// </summary>
+        public UnityEngine.Bounds localBounds
+        {
+            get { return m_Bounds; }
+        }
+
+        public bool isVisible { get; private set; } = true;
+
+        public float maxScale { get; private set; } = 1;
+
+        public bool simulationInFlight { get; private set; } = false;
+
+        public int pendingQueryCount => bufferedQueryShapes.count;
+
+        public int allocParticleCount
+        {
+            get { return particleToActor.Count(s => s != null && s.actor != null); }
+        }
+
+        public int activeParticleCount => activeParticles.count;
+
+        public int contactCount
+        {
+            get { return (backendType == BackendType.Burst || OnCollision != null) ? colliderContacts.count : 0; }
+        }
+
+        public int particleContactCount
+        {
+            get { return (backendType == BackendType.Burst || OnParticleCollision != null) ? particleContacts.count : 0; }
+        }
+
+        public ParticleInActor[] particleToActor
+        {
+            get
+            {
+                if (m_ParticleToActor == null)
+                    m_ParticleToActor = new ParticleInActor[0];
+
+                return m_ParticleToActor;
+            }
+        }
+
+        public ObiNativeIntList activeParticles
+        {
+            get
+            {
+                if (m_ActiveParticles == null)
+                    m_ActiveParticles = new ObiNativeIntList();
+
+                return m_ActiveParticles;
+            }
+        }
+
+        #region Simplices
+        public ObiNativeIntList simplices
+        {
+            get
+            {
+                if (m_Simplices == null)
+                    m_Simplices = new ObiNativeIntList();
+
+                return m_Simplices;
+            }
+        }
+
+        public ObiNativeIntList points
+        {
+            get
+            {
+                if (m_Points == null)
+                    m_Points = new ObiNativeIntList(8);
+
+                return m_Points;
+            }
+        }
+
+        public ObiNativeIntList edges
+        {
+            get
+            {
+                if (m_Edges == null)
+                    m_Edges = new ObiNativeIntList(8);
+
+                return m_Edges;
+            }
+        }
+
+        public ObiNativeIntList triangles
+        {
+            get
+            {
+                if (m_Triangles == null)
+                    m_Triangles = new ObiNativeIntList(8);
+
+                return m_Triangles;
+            }
+        }
+
+        #endregion
+
+        #region Rigidbodies
+        public ObiNativeVector4List rigidbodyLinearDeltas
+        {
+            get
+            {
+                if (m_RigidbodyLinearVelocities == null)
+                {
+                    m_RigidbodyLinearVelocities = new ObiNativeVector4List();
+                }
+                return m_RigidbodyLinearVelocities;
+            }
+        }
+
+        public ObiNativeVector4List rigidbodyAngularDeltas
+        {
+            get
+            {
+                if (m_RigidbodyAngularVelocities == null)
+                {
+                    m_RigidbodyAngularVelocities = new ObiNativeVector4List();
+                }
+                return m_RigidbodyAngularVelocities;
+            }
+        }
+        #endregion
+
+        public ObiNativeColorList colors
+        {
+            get
+            {
+                if (m_Colors == null)
+                {
+                    m_Colors = new ObiNativeColorList();
+                }
+                return m_Colors;
+            }
+        }
+
+        public ObiNativeInt4List cellCoords
+        {
+            get
+            {
+                if (m_CellCoords == null)
+                {
+                    m_CellCoords = new ObiNativeInt4List(8, 16, new VInt4(int.MaxValue));
+                }
+                return m_CellCoords;
+            }
+        }
+
+        #region Position arrays
+
+        public ObiNativeVector4List positions
+        {
+            get
+            {
+                if (m_Positions == null)
+                    m_Positions = new ObiNativeVector4List();
+                return m_Positions;
+            }
+        }
+
+
+        public ObiNativeVector4List prevPositions
+        {
+            get
+            {
+                if (m_PrevPositions == null)
+                    m_PrevPositions = new ObiNativeVector4List();
+                return m_PrevPositions;
+            }
+        }
+
+        public ObiNativeVector4List restPositions
+        {
+            get
+            {
+                if (m_RestPositions == null)
+                    m_RestPositions = new ObiNativeVector4List();
+                return m_RestPositions;
+            }
+        }
+
+        public ObiNativeVector4List startPositions
+        {
+            get
+            {
+                if (m_StartPositions == null)
+                    m_StartPositions = new ObiNativeVector4List();
+                return m_StartPositions;
+            }
+        }
+
+        public ObiNativeVector4List endPositions
+        {
+            get
+            {
+                if (m_EndPositions == null)
+                    m_EndPositions = new ObiNativeVector4List();
+                return m_EndPositions;
+            }
+        }
+
+        public ObiNativeVector4List renderablePositions
+        {
+            get
+            {
+                if (m_RenderablePositions == null)
+                    m_RenderablePositions = new ObiNativeVector4List();
+                return m_RenderablePositions;
+            }
+        }
+
+        #endregion
+
+        #region Orientation arrays
+
+        public ObiNativeQuaternionList orientations
+        {
+            get
+            {
+                if (m_Orientations == null)
+                    m_Orientations = new ObiNativeQuaternionList();
+                return m_Orientations;
+            }
+        }
+
+        public ObiNativeQuaternionList prevOrientations
+        {
+            get
+            {
+                if (m_PrevOrientations == null)
+                    m_PrevOrientations = new ObiNativeQuaternionList();
+                return m_PrevOrientations;
+            }
+        }
+
+        public ObiNativeQuaternionList restOrientations
+        {
+            get
+            {
+                if (m_RestOrientations == null)
+                    m_RestOrientations = new ObiNativeQuaternionList();
+                return m_RestOrientations;
+            }
+        }
+
+
+        public ObiNativeQuaternionList startOrientations
+        {
+            get
+            {
+                if (m_StartOrientations == null)
+                    m_StartOrientations = new ObiNativeQuaternionList();
+                return m_StartOrientations;
+            }
+        }
+
+        public ObiNativeQuaternionList endOrientations
+        {
+            get
+            {
+                if (m_EndOrientations == null)
+                    m_EndOrientations = new ObiNativeQuaternionList();
+                return m_EndOrientations;
+            }
+        }
+
+
+        public ObiNativeQuaternionList renderableOrientations
+        {
+            get
+            {
+                if (m_RenderableOrientations == null)
+                    m_RenderableOrientations = new ObiNativeQuaternionList();
+                return m_RenderableOrientations;
+            }
+        }
+
+        #endregion
+
+        #region Velocity arrays
+
+        public ObiNativeVector4List velocities
+        {
+            get
+            {
+                if (m_Velocities == null)
+                    m_Velocities = new ObiNativeVector4List();
+                return m_Velocities;
+            }
+        }
+
+        public ObiNativeVector4List angularVelocities
+        {
+            get
+            {
+                if (m_AngularVelocities == null)
+                    m_AngularVelocities = new ObiNativeVector4List();
+                return m_AngularVelocities;
+            }
+        }
+
+        #endregion
+
+        #region Mass arrays
+
+        public ObiNativeFloatList invMasses
+        {
+            get
+            {
+                if (m_InvMasses == null)
+                    m_InvMasses = new ObiNativeFloatList();
+                return m_InvMasses;
+            }
+        }
+
+        public ObiNativeFloatList invRotationalMasses
+        {
+            get
+            {
+                if (m_InvRotationalMasses == null)
+                    m_InvRotationalMasses = new ObiNativeFloatList();
+                return m_InvRotationalMasses;
+            }
+        }
+
+        #endregion
+
+        #region External forces
+
+        public ObiNativeVector4List externalForces
+        {
+            get
+            {
+                if (m_ExternalForces == null)
+                    m_ExternalForces = new ObiNativeVector4List();
+                return m_ExternalForces;
+            }
+        }
+
+        public ObiNativeVector4List externalTorques
+        {
+            get
+            {
+                if (m_ExternalTorques == null)
+                    m_ExternalTorques = new ObiNativeVector4List();
+                return m_ExternalTorques;
+            }
+        }
+
+        public ObiNativeVector4List wind
+        {
+            get
+            {
+                if (m_Wind == null)
+                    m_Wind = new ObiNativeVector4List();
+                return m_Wind;
+            }
+        }
+
+        #endregion
+
+        #region Deltas
+
+        public ObiNativeVector4List positionDeltas
+        {
+            get
+            {
+                if (m_PositionDeltas == null)
+                    m_PositionDeltas = new ObiNativeVector4List();
+                return m_PositionDeltas;
+            }
+        }
+
+        public ObiNativeQuaternionList orientationDeltas
+        {
+            get
+            {
+                if (m_OrientationDeltas == null)
+                    m_OrientationDeltas = new ObiNativeQuaternionList(8, 16, new Quaternion(0, 0, 0, 0));
+                return m_OrientationDeltas;
+            }
+        }
+
+        public ObiNativeIntList positionConstraintCounts
+        {
+            get
+            {
+                if (m_PositionConstraintCounts == null)
+                    m_PositionConstraintCounts = new ObiNativeIntList();
+                return m_PositionConstraintCounts;
+            }
+        }
+
+        public ObiNativeIntList orientationConstraintCounts
+        {
+            get
+            {
+                if (m_OrientationConstraintCounts == null)
+                    m_OrientationConstraintCounts = new ObiNativeIntList();
+                return m_OrientationConstraintCounts;
+            }
+        }
+
+        #endregion
+
+        #region Shape and phase
+
+        public ObiNativeIntList collisionMaterials
+        {
+            get
+            {
+                if (m_CollisionMaterials == null)
+                    m_CollisionMaterials = new ObiNativeIntList();
+                return m_CollisionMaterials;
+            }
+        }
+
+        public ObiNativeIntList phases
+        {
+            get
+            {
+                if (m_Phases == null)
+                    m_Phases = new ObiNativeIntList();
+                return m_Phases;
+            }
+        }
+
+        public ObiNativeIntList filters
+        {
+            get
+            {
+                if (m_Filters == null)
+                    m_Filters = new ObiNativeIntList();
+                return m_Filters;
+            }
+        }
+
+        public ObiNativeVector4List renderableRadii
+        {
+            get
+            {
+                if (m_RenderableRadii == null)
+                    m_RenderableRadii = new ObiNativeVector4List();
+                return m_RenderableRadii;
+            }
+        }
+
+        public ObiNativeVector4List principalRadii
+        {
+            get
+            {
+                if (m_PrincipalRadii == null)
+                    m_PrincipalRadii = new ObiNativeVector4List();
+                return m_PrincipalRadii;
+            }
+        }
+
+        public ObiNativeVector4List normals
+        {
+            get
+            {
+                if (m_Normals == null)
+                    m_Normals = new ObiNativeVector4List();
+                return m_Normals;
+            }
+        }
+
+        #endregion
+
+        #region Fluid properties
+
+        public ObiNativeFloatList life
+        {
+            get
+            {
+                if (m_Life == null)
+                    m_Life = new ObiNativeFloatList();
+                return m_Life;
+            }
+        }
+
+        public ObiNativeVector4List fluidData
+        {
+            get
+            {
+                if (m_FluidData == null)
+                    m_FluidData = new ObiNativeVector4List();
+                return m_FluidData;
+            }
+        }
+
+        public ObiNativeVector4List userData
+        {
+            get
+            {
+                if (m_UserData == null)
+                    m_UserData = new ObiNativeVector4List();
+                return m_UserData;
+            }
+        }
+
+        public ObiNativeVector4List fluidInterface
+        {
+            get
+            {
+                if (m_FluidInterface == null)
+                    m_FluidInterface = new ObiNativeVector4List();
+                return m_FluidInterface;
+            }
+        }
+
+        public ObiNativeVector4List fluidMaterials
+        {
+            get
+            {
+                if (m_FluidMaterials == null)
+                    m_FluidMaterials = new ObiNativeVector4List();
+                return m_FluidMaterials;
+            }
+        }
+
+        public ObiNativeMatrix4x4List anisotropies
+        {
+            get
+            {
+                if (m_Anisotropy == null)
+                    m_Anisotropy = new ObiNativeMatrix4x4List();
+                return m_Anisotropy;
+            }
+        }
+
+        public ObiNativeVector4List foamPositions
+        {
+            get
+            {
+                if (m_FoamPositions == null)
+                    m_FoamPositions = new ObiNativeVector4List();
+                return m_FoamPositions;
+            }
+        }
+
+        public ObiNativeVector4List foamVelocities
+        {
+            get
+            {
+                if (m_FoamVelocities == null)
+                    m_FoamVelocities = new ObiNativeVector4List();
+                return m_FoamVelocities;
+            }
+        }
+
+        public ObiNativeVector4List foamColors
+        {
+            get
+            {
+                if (m_FoamColors == null)
+                    m_FoamColors = new ObiNativeVector4List();
+                return m_FoamColors;
+            }
+        }
+
+        public ObiNativeVector4List foamAttributes
+        {
+            get
+            {
+                if (m_FoamAttributes == null)
+                    m_FoamAttributes = new ObiNativeVector4List();
+                return m_FoamAttributes;
+            }
+        }
+
+        public ObiNativeIntList foamCount
+        {
+            get
+            {
+                if (m_FoamCount == null)
+                {
+                    m_FoamCount = new ObiNativeIntList();
+                    m_FoamCount.ResizeUninitialized(9);
+
+                    // post-emission particle dispatch (4 floats), post-update particle  dispatch (4 floats),
+                    // plus 1 extra float for storing currently alive particles while updating/killing.
+                    m_FoamCount.CopyFrom(new int[] { 0, 1, 1, 0, 0, 1, 1, 0, 0 }, 0, 0, 9);
+                }
+                return m_FoamCount;
+            }
+        }
+
+        #endregion
+
+        #region Contacts
+
+        public ObiNativeContactList colliderContacts
+        {
+            get
+            {
+                if (m_ColliderContacts == null)
+                    m_ColliderContacts = new ObiNativeContactList();
+                return m_ColliderContacts;
+            }
+        }
+
+        public ObiNativeContactList particleContacts
+        {
+            get
+            {
+                if (m_ParticleContacts == null)
+                    m_ParticleContacts = new ObiNativeContactList();
+                return m_ParticleContacts;
+            }
+        }
+
+        public ObiNativeEffectiveMassesList contactEffectiveMasses
+        {
+            get
+            {
+                if (m_ContactEffectiveMasses == null)
+                    m_ContactEffectiveMasses = new ObiNativeEffectiveMassesList();
+                return m_ContactEffectiveMasses;
+            }
+        }
+
+        public ObiNativeEffectiveMassesList particleContactEffectiveMasses
+        {
+            get
+            {
+                if (m_ParticleContactEffectiveMasses == null)
+                    m_ParticleContactEffectiveMasses = new ObiNativeEffectiveMassesList();
+                return m_ParticleContactEffectiveMasses;
+            }
+        }
+
+        #endregion
+
+        #region Queries
+
+        private ObiNativeQueryShapeList bufferedQueryShapes
+        {
+            get
+            {
+                if (m_BufferedQueryShapes == null)
+                    m_BufferedQueryShapes = new ObiNativeQueryShapeList();
+                return m_BufferedQueryShapes;
+            }
+        }
+
+        private ObiNativeAffineTransformList bufferedQueryTransforms
+        {
+            get
+            {
+                if (m_BufferedQueryTransforms == null)
+                    m_BufferedQueryTransforms = new ObiNativeAffineTransformList(8);
+                return m_BufferedQueryTransforms;
+            }
+        }
+
+        private ObiNativeQueryShapeList queryShapes
+        {
+            get
+            {
+                if (m_QueryShapes == null)
+                    m_QueryShapes = new ObiNativeQueryShapeList();
+                return m_QueryShapes;
+            }
+        }
+
+        private ObiNativeAffineTransformList queryTransforms
+        {
+            get
+            {
+                if (m_QueryTransforms == null)
+                    m_QueryTransforms = new ObiNativeAffineTransformList(8);
+                return m_QueryTransforms;
+            }
+        }
+
+        public ObiNativeQueryResultList queryResults
+        {
+            get
+            {
+                if (m_QueryResults == null)
+                    m_QueryResults = new ObiNativeQueryResultList();
+                return m_QueryResults;
+            }
+        }
+
+        #endregion
+
+        public void OnEnable()
+        {
+            bufferedSynchronization = synchronization;
+            accumulatedTime = 0;
+        }
+
+        private void FixedUpdate()
+        {
+            // first fixed update this frame:
+            if (steps++ == 0)
+            {
+                // Signal the start of a frame, so we know the world needs to be updated this frame.
+                ObiColliderWorld.GetInstance().FrameStart();
+
+                // Wait for the previous frame's simulation to end and GPU data to be available.
+                if (bufferedSynchronization == Synchronization.Asynchronous)
+                    CompleteSimulation();
+            }
+
+            if (bufferedSynchronization == Synchronization.SynchronousFixed)
+            {
+                // Update collider world, making sure it will also update after FixedUpdate() for solvers not using fixed sync.
+                ObiColliderWorld.GetInstance().UpdateWorld(Time.fixedDeltaTime);
+                ObiColliderWorld.GetInstance().FrameStart();
+
+                // kick off this step's simulation, and immediately wait for it to complete:
+                StartSimulation(Time.fixedDeltaTime, 1);
+                CompleteSimulation();
+            }
+           
+        }
+
+        private void Update()
+        {
+            // Make sure ObiColliderWorld updates after all solvers have called CompleteSimulation() on their FixedUpdate.
+            // This way we can be sure no physics updates are in flight.
+            if (steps > 0 && bufferedSynchronization != Synchronization.SynchronousFixed)
+            {
+                ObiColliderWorld.GetInstance().UpdateWorld(Time.fixedDeltaTime * steps);
+            }
+        }
+
+        private void LateUpdate()
+        {
+            var scale = transform.lossyScale;
+            maxScale = Mathf.Max(Mathf.Max(scale.x, scale.y), scale.z);
+
+            // Accumulate amount of time to simulate (duration of the frame - time already simulated)
+            if (Application.isPlaying)
+                accumulatedTime += Time.deltaTime - Time.fixedDeltaTime * steps;
+            else
+            {
+                // if in editor, we don't accumulate any simulation time
+                // and just update solver bounds before rendering/simulation.
+                accumulatedTime = 0;
+                UpdateBounds();
+            }
+
+            if (bufferedSynchronization == Synchronization.Asynchronous ||
+                bufferedSynchronization == Synchronization.SynchronousFixed)
+                Render(accumulatedTime);
+
+            // if in play mode, kick off this frame's simulation.
+            if (Application.isPlaying && bufferedSynchronization != Synchronization.SynchronousFixed)
+                StartSimulation(Time.fixedDeltaTime, steps);
+
+            if (bufferedSynchronization == Synchronization.Synchronous)
+            {
+                // if the simulation has been stepped this frame,
+                // sychronously wait for completion before rendering.
+                if (steps > 0)
+                    CompleteSimulation();
+
+                Render(accumulatedTime);
+            }
+
+            // Reset step counter to zero, now that
+            // simulation tasks for this frame have been dispatched.
+            steps = 0;
+        }
+
+        private void OnDestroy()
+        {
+            // Remove all actors from the solver. This will trigger Teardown() when the last actor is removed.
+            while (actors.Count > 0)
+                RemoveActor(actors[actors.Count - 1]);
+        }
+
+        private void CreateBackend()
+        {
+            switch (m_Backend)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case BackendType.Burst: m_SimulationBackend = new BurstBackend(); break;
+#endif
+                case BackendType.Compute:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        m_SimulationBackend = new ComputeBackend();
+                    else
+                        goto default;
+                    break;
+
+                default:
+                    Debug.LogWarning("The Burst backend depends on the following packages: Mathematics, Collections, Jobs and Burst. Please install the required dependencies. Simulation will fall back to the compute backend, if possible.");
+                    if (SystemInfo.supportsComputeShaders)
+                        m_SimulationBackend = new ComputeBackend();
+                    else
+                    {
+                        Debug.LogError("This platform doesn't support compute shaders. Please switch to the Burst backend.");
+                        m_SimulationBackend = new NullBackend();
+                    }
+                    break;
+            }
+        }
+
+        public void Initialize()
+        {
+            if (!initialized)
+            {
+                CreateBackend();
+
+                substepTime = Time.fixedDeltaTime / substeps;
+
+                // Set up local actor and particle buffers:
+                actors = new List<ObiActor>();
+                freeList = new ObiNativeIntList();
+                m_ParticleToActor = new ParticleInActor[0];
+
+                deformableUVs = new ObiNativeVector2List();
+                deformableTriangles = new ObiNativeIntList();
+                deformableEdges = new ObiNativeIntList();
+
+                // Create constraints:
+                m_Constraints[(int)Oni.ConstraintType.Distance] = new ObiDistanceConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Bending] = new ObiBendConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Aerodynamics] = new ObiAerodynamicConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.StretchShear] = new ObiStretchShearConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.BendTwist] = new ObiBendTwistConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Chain] = new ObiChainConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.ShapeMatching] = new ObiShapeMatchingConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Volume] = new ObiVolumeConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Tether] = new ObiTetherConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Skin] = new ObiSkinConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Pin] = new ObiPinConstraintsData();
+
+                // Create the solver:
+                implementation = m_SimulationBackend.CreateSolver(this, 0);
+
+                // Set data arrays:
+                implementation.ParticleCountChanged(this);
+                implementation.SetRigidbodyArrays(this);
+                OnParticleCountChanged?.Invoke(this);
+
+                // Initialize moving transform:
+                InitializeTransformFrame();
+
+                // Initial collider world update:
+                ObiColliderWorld.GetInstance().FrameStart();
+                ObiColliderWorld.GetInstance().UpdateWorld(0);
+
+                OnInitialize?.Invoke(this);
+
+                // Set initial parameter values:
+                PushSolverParameters();
+
+#if UNITY_EDITOR
+                ObiActorEditorSelectionHandler.SolverInitialized(this);
+#endif
+            }
+        }
+
+        public void Teardown()
+        {
+            if (initialized)
+            {
+                CompleteSimulation();
+
+                // Clear all constraints:
+                PushConstraints();
+
+                // Destroy the solver:
+                m_SimulationBackend.DestroySolver(implementation);
+                implementation = null;
+
+                // Free particle / rigidbody memory:
+                FreeParticleArrays();
+                FreeRigidbodyArrays();
+
+                freeList.Dispose();
+
+                // Reset bounds:
+                m_Bounds = new Bounds();
+
+                OnTeardown?.Invoke(this);
+
+#if UNITY_EDITOR
+                ObiActorEditorSelectionHandler.SolverTeardown(this);
+#endif
+            }
+        }
+
+        public void UpdateBackend()
+        {
+            // remove all actors, this will trigger a teardown:
+            List<ObiActor> temp = new List<ObiActor>(actors);
+            foreach (ObiActor actor in temp)
+                actor.RemoveFromSolver();
+
+            // re-add all actors.
+            // Solver will be re-initialized on adding the first one.
+            foreach (ObiActor actor in temp)
+                actor.AddToSolver();
+        }
+
+        private void FreeRigidbodyArrays()
+        {
+            rigidbodyLinearDeltas.Dispose();
+            rigidbodyAngularDeltas.Dispose();
+
+            m_RigidbodyLinearVelocities = null;
+            m_RigidbodyAngularVelocities = null;
+        }
+
+        public void EnsureRigidbodyArraysCapacity(int count)
+        {
+            if (initialized && (count > rigidbodyLinearDeltas.count || !rigidbodyLinearDeltas.isCreated))
+            {
+                rigidbodyLinearDeltas.ResizeInitialized(count);
+                rigidbodyAngularDeltas.ResizeInitialized(count);
+
+                implementation.SetRigidbodyArrays(this);
+            }
+        }
+
+        private void FreeParticleArrays()
+        {
+            activeParticles.Dispose();
+            simplices.Dispose();
+            points.Dispose();
+            edges.Dispose();
+            triangles.Dispose();
+
+            colors.Dispose();
+            cellCoords.Dispose();
+            startPositions.Dispose();
+            endPositions.Dispose();
+            startOrientations.Dispose();
+            endOrientations.Dispose();
+            positions.Dispose();
+            prevPositions.Dispose();
+            restPositions.Dispose();
+            velocities.Dispose();
+            orientations.Dispose();
+            prevOrientations.Dispose();
+            restOrientations.Dispose();
+            angularVelocities.Dispose();
+            invMasses.Dispose();
+            invRotationalMasses.Dispose();
+            principalRadii.Dispose();
+            collisionMaterials.Dispose();
+            phases.Dispose();
+            filters.Dispose();
+            renderablePositions.Dispose();
+            renderableOrientations.Dispose();
+            renderableRadii.Dispose();
+            fluidInterface.Dispose();
+            fluidMaterials.Dispose();
+            foamPositions.Dispose();
+            foamVelocities.Dispose();
+            foamColors.Dispose();
+            foamAttributes.Dispose();
+            foamCount.Dispose();
+            anisotropies.Dispose();
+            life.Dispose();
+            fluidData.Dispose();
+            userData.Dispose();
+            externalForces.Dispose();
+            externalTorques.Dispose();
+            wind.Dispose();
+            positionDeltas.Dispose();
+            orientationDeltas.Dispose();
+            positionConstraintCounts.Dispose();
+            orientationConstraintCounts.Dispose();
+            normals.Dispose();
+            colliderContacts.Dispose();
+            particleContacts.Dispose();
+            contactEffectiveMasses.Dispose();
+            particleContactEffectiveMasses.Dispose();
+
+            bufferedQueryShapes.Dispose();
+            bufferedQueryTransforms.Dispose();
+            queryShapes.Dispose();
+            queryTransforms.Dispose();
+            queryResults.Dispose();
+
+            deformableUVs.Dispose();
+            deformableTriangles.Dispose();
+            deformableEdges.Dispose();
+
+            m_ActiveParticles = null;
+            m_Simplices = null;
+            m_Points = null;
+            m_Edges = null;
+            m_Triangles = null;
+
+            m_Colors = null;
+            m_CellCoords = null;
+            m_Positions = null;
+            m_RestPositions = null;
+            m_PrevPositions = null;
+            m_StartPositions = null;
+            m_EndPositions = null;
+            m_RenderablePositions = null;
+            m_Orientations = null;
+            m_RestOrientations = null;
+            m_PrevOrientations = null;
+            m_StartOrientations = null;
+            m_EndOrientations = null;
+            m_RenderableOrientations = null;
+            m_Velocities = null;
+            m_AngularVelocities = null;
+            m_InvMasses = null;
+            m_InvRotationalMasses = null;
+            m_ExternalForces = null;
+            m_ExternalTorques = null;
+            m_Wind = null;
+            m_PositionDeltas = null;
+            m_OrientationDeltas = null;
+            m_PositionConstraintCounts = null;
+            m_OrientationConstraintCounts = null;
+            m_CollisionMaterials = null;
+            m_Phases = null;
+            m_Filters = null;
+            m_RenderableRadii = null;
+            m_PrincipalRadii = null;
+            m_Normals = null;
+            m_Life = null;
+            m_FluidData = null;
+            m_UserData = null;
+            m_FluidInterface = null;
+            m_FluidMaterials = null;
+            m_FoamPositions = null;
+            m_FoamVelocities = null;
+            m_FoamColors = null;
+            m_FoamAttributes = null;
+            m_FoamCount = null;
+            m_Anisotropy = null;
+            m_ColliderContacts = null;
+            m_ParticleContacts = null;
+            m_ContactEffectiveMasses = null;
+            m_ParticleContactEffectiveMasses = null;
+
+            m_BufferedQueryShapes = null;
+            m_BufferedQueryTransforms = null;
+            m_QueryShapes = null;
+            m_QueryTransforms = null;
+            m_QueryResults = null;
+
+            deformableUVs = null;
+            deformableTriangles = null;
+            deformableEdges = null;
+        }
+
+        private void EnsureParticleArraysCapacity(int count)
+        {
+            // only resize if the count is larger than the current amount of particles:
+            if (count >= positions.count)
+            {
+                colors.ResizeInitialized(count, Color.white);
+                startPositions.ResizeInitialized(count);
+                endPositions.ResizeInitialized(count);
+                positions.ResizeInitialized(count);
+                prevPositions.ResizeInitialized(count);
+                restPositions.ResizeInitialized(count);
+                startOrientations.ResizeInitialized(count, Quaternion.identity);
+                endOrientations.ResizeInitialized(count, Quaternion.identity);
+                orientations.ResizeInitialized(count, Quaternion.identity);
+                prevOrientations.ResizeInitialized(count, Quaternion.identity);
+                restOrientations.ResizeInitialized(count, Quaternion.identity);
+                renderablePositions.ResizeInitialized(count);
+                renderableOrientations.ResizeInitialized(count, Quaternion.identity);
+                velocities.ResizeInitialized(count);
+                angularVelocities.ResizeInitialized(count);
+                invMasses.ResizeInitialized(count);
+                invRotationalMasses.ResizeInitialized(count);
+                principalRadii.ResizeInitialized(count);
+                collisionMaterials.ResizeInitialized(count);
+                phases.ResizeInitialized(count);
+                filters.ResizeInitialized(count);
+                renderableRadii.ResizeInitialized(count);
+                fluidInterface.ResizeInitialized(count);
+                fluidMaterials.ResizeInitialized(count);
+                anisotropies.ResizeInitialized(count);
+                life.ResizeInitialized(count);
+                fluidData.ResizeInitialized(count);
+                userData.ResizeInitialized(count);
+                externalForces.ResizeInitialized(count);
+                externalTorques.ResizeInitialized(count);
+                wind.ResizeInitialized(count);
+                positionDeltas.ResizeInitialized(count);
+                orientationDeltas.ResizeInitialized(count, new Quaternion(0, 0, 0, 0));
+                positionConstraintCounts.ResizeInitialized(count);
+                orientationConstraintCounts.ResizeInitialized(count);
+                normals.ResizeInitialized(count);
+            }
+
+            if (count >= m_ParticleToActor.Length)
+            {
+                Array.Resize(ref m_ParticleToActor, count * 2);
+            }
+        }
+
+        private void UpdateFoamParticleCapacity()
+        {
+            if (maxFoamParticles != foamPositions.count)
+            {
+                foamPositions.ResizeUninitialized((int)maxFoamParticles);
+                foamVelocities.ResizeUninitialized((int)maxFoamParticles);
+                foamColors.ResizeUninitialized((int)maxFoamParticles);
+                foamAttributes.ResizeUninitialized((int)maxFoamParticles);
+                foamCount[3] = Mathf.Min(foamCount[3], (int)maxFoamParticles);
+
+                implementation.MaxFoamParticleCountChanged(this);
+            }
+        }
+
+        private void AllocateParticles(ObiNativeIntList particleIndices)
+        {
+
+            // If attempting to allocate more particles than we have:
+            if (particleIndices.count > freeList.count)
+            {
+                int grow = particleIndices.count - freeList.count;
+
+                // append new free indices:
+                for (int i = 0; i < grow; ++i)
+                    freeList.Add(positions.count + i);
+
+                // grow particle arrays:
+                EnsureParticleArraysCapacity(positions.count + particleIndices.count);
+            }
+
+            // determine first particle in the free list to use:
+            int first = freeList.count - particleIndices.count;
+
+            // copy free indices to the input array:
+            particleIndices.CopyFrom(freeList, first, 0, particleIndices.count);
+
+            // shorten the free list:
+            freeList.ResizeUninitialized(first);
+
+        }
+
+        private void FreeParticles(ObiNativeIntList particleIndices)
+        {
+            freeList.AddRange(particleIndices);
+        }
+
+        private void CollisionCallbacks()
+        {
+            if (OnCollision != null)
+            {
+                colliderContacts.WaitForReadback();
+                OnCollision.Invoke(this, colliderContacts);
+            }
+            if (OnParticleCollision != null)
+            {
+                particleContacts.WaitForReadback();
+                OnParticleCollision.Invoke(this, particleContacts);
+            }
+            if (OnAdvection != null)
+            {
+                foamPositions.WaitForReadback();
+                foamVelocities.WaitForReadback();
+                foamAttributes.WaitForReadback();
+                foamColors.WaitForReadback();
+                foamCount.WaitForReadback();
+
+                OnAdvection.Invoke(this);
+
+
+                foamPositions.Upload();
+                foamVelocities.Upload();
+                foamAttributes.Upload();
+                foamColors.Upload();
+                foamCount.Upload();
+            }
+        }
+
+        public void StartSimulation(float stepDelta, int simulationSteps)
+        {
+            if (simulationSteps > 0)
+            {
+                // Complete previous simulation call, if any:
+                CompleteSimulation();
+
+                simulatedTime = stepDelta * simulationSteps; // physics time that has been simulated by Unity this frame. Might be more than the time we actually simulate, due to maxStepsPerFrame.
+                substepTime = stepDelta / substeps;          // duration of a substep.
+
+                // only update buffered synchronization before starting a new step.
+                bufferedSynchronization = synchronization;
+
+                // AddActor() calls are buffered, new actors should be inserted as this particular point in time:
+                while (addBuffer.TryDequeue(out ObiActor actor))
+                    InsertBufferedActor(actor);
+
+                if (initialized && maxStepsPerFrame > 0)
+                {
+                    simulationInFlight = true;
+
+                    int frameSubsteps = Mathf.Min(maxStepsPerFrame, simulationSteps) * substeps; // amount of substeps *actually* simulated this frame.
+                    float timeToSimulate = frameSubsteps * substepTime; // amount of time we need to simulate, might be less than simulatedTime.
+
+                    UpdateFoamParticleCapacity();
+
+                    // Update collision materials/rigidbodies after adding new actors to make sure collision materials are up to date.
+                    // Also call it before SimulationStart, so that constraints referencing rigidbodies (such as Pin constraints in attachments)
+                    // use handle data that's up to date. 
+                    using (m_UpdateColliderWorld.Auto())
+                    {
+                        ObiColliderWorld.GetInstance().UpdateCollisionMaterials();
+                        EnsureRigidbodyArraysCapacity(ObiColliderWorld.GetInstance().rigidbodyHandles.Count);
+                    }
+
+                    // We need SimulationStart to be called before PushConstraints for updating pin constraints.
+                    OnSimulationStart?.Invoke(this, timeToSimulate, substepTime);
+                    foreach (ObiActor actor in actors)
+                        actor.SimulationStart(timeToSimulate, substepTime);
+
+                    // Update the active particles array:
+                    PushActiveParticles();
+
+                    // Update the simplices array:
+                    PushSimplices();
+
+                    // Update deformable triangles/edges arrays:
+                    PushDeformableTriangles();
+                    PushDeformableEdges();
+
+                    // Update constraint batches:
+                    PushConstraints();
+
+                    // Update parameters:
+                    parameters.gravity = gravitySpace == Space.World ? transform.InverseTransformVector(gravity) : gravity;
+                    parameters.ambientWind = windSpace == Space.World ? transform.InverseTransformVector(ambientWind) : ambientWind;
+                    implementation.SetParameters(parameters);
+
+                    // Notify render systems that a step has started:
+                    m_RenderSystems.Step();
+
+                    // CPU -> GPU data transfer
+                    implementation.PushData();
+
+                    // Update inertial reference frame:
+                    simulationHandle = UpdateTransformFrame(simulatedTime);
+
+                    // Calculate bounds:
+                    simulationHandle = implementation.UpdateBounds(simulationHandle, simulatedTime);
+
+                    // Perform collision detection:
+                    if (simulateWhenInvisible || isVisible)
+                    {
+                        simulationHandle = implementation.CollisionDetection(simulationHandle, simulatedTime);
+                        simulationHandle?.Complete(); // complete here, since several jobs need fluidParticles.Length. TODO: use deferred jobs.
+                    }
+
+                    // Perform queued queries. This ensures queries "see" the same state as collision callbacks, and ensures no
+                    // data races (queries performed while the simulation is running).
+                    FlushSpatialQueries();
+
+                    // Divide each step into multiple substeps:
+                    float timeLeft = simulatedTime;         
+                    for (int i = 0; i < frameSubsteps; ++i)
+                    {
+                        // Only update the solver if it is visible, or if we must simulate even when invisible.
+                        if ((simulateWhenInvisible || isVisible) && initialized)
+                        {
+                            simulationHandle = implementation.Substep(simulationHandle, stepDelta, substepTime, simulationSteps, timeLeft);
+                        }
+                        timeLeft -= substepTime;
+                    }
+
+                    timeSinceSimulationStart += timeToSimulate;
+
+                    // Request GPU data to be brought back to the CPU.
+                    RequestReadback();
+                }
+            }
+        }
+
+        private void FlushSpatialQueries()
+        {
+            while (bufferedQueryShapes.count > 0)
+            {
+                // copy buffered queries to the lists used for performing the queries:
+                queryShapes.ResizeUninitialized(bufferedQueryShapes.count);
+                queryTransforms.ResizeUninitialized(bufferedQueryTransforms.count);
+
+                queryShapes.CopyFrom(bufferedQueryShapes);
+                queryTransforms.CopyFrom(bufferedQueryTransforms);
+
+                bufferedQueryShapes.Clear();
+                bufferedQueryTransforms.Clear();
+
+                implementation.SpatialQuery(queryShapes, queryTransforms, queryResults);
+                queryResults.Readback();
+
+                if (synchronousSpatialQueries)
+                {
+                    // Wait for query results right now and trigger query results event:
+                    queryResults.WaitForReadback();
+                    OnSpatialQueryResults?.Invoke(this, queryResults);
+                }
+            }
+        }
+
+        public void CompleteSimulation()
+        {
+            // if the solver is not yet initialized or there's no previous call to SimulationStart, return.
+            if (!initialized || !simulationInFlight)
+                return;
+
+            // Make sure previous simulation call has completed.
+            simulationHandle?.Complete();
+
+            // Update physics state for rendering, and wait for GPU readbacks to finish.
+            implementation.FinishSimulation();
+
+            // Trigger simulation end callback, after GPU readbacks are completed but before query/collision callbacks.
+            OnSimulationEnd?.Invoke(this, simulatedTime, substepTime);
+            foreach (ObiActor actor in actors)
+                actor.SimulationEnd(simulatedTime, substepTime);
+
+            // Update rigidbody velocities with the simulation results:
+            ObiColliderWorld.GetInstance().UpdateRigidbodyVelocities(this);
+
+            // Trigger spatial query results:
+            if (!synchronousSpatialQueries)
+            {
+                queryResults.WaitForReadback();
+                OnSpatialQueryResults?.Invoke(this, queryResults);
+            }
+
+            // Trigger collision callbacks now that GPU data (including rigidbody velocity deltas) is available.
+            CollisionCallbacks();
+
+            simulationInFlight = false;
+        }
+
+        /// <summary>
+        /// Performs physics state interpolation and updates rendering.
+        /// </summary>
+        /// <param name="unsimulatedTime"> Remaining time that could not be simulated during this frame (in seconds). This is used to interpolate physics state. </param>  
+        public void Render(float unsimulatedTime)
+        {
+            if (!initialized)
+                return;
+
+            // Only perform interpolation if the solver is visible, or if we must simulate even when invisible.
+            if (simulateWhenInvisible || isVisible)
+            {
+                using (m_StateInterpolationPerfMarker.Auto())
+                {
+                    // interpolate physics state:
+                    simulationHandle = implementation.ApplyInterpolation(simulationHandle, startPositions, startOrientations, Time.fixedDeltaTime, unsimulatedTime);
+                    simulationHandle?.Complete();
+                }
+            }
+
+            // test bounds against all cameras to update visibility.
+            UpdateVisibility();
+
+            OnInterpolate?.Invoke(this, simulatedTime, substepTime);
+
+            foreach (ObiActor actor in actors)
+                actor.Interpolate(simulatedTime, substepTime);
+
+            if (!Application.isPlaying)
+            {
+                // in-editor, actors update their positions/orientations in Interpolate when transformed,
+                // so we must copy them to the GPU:
+                positions.Upload();
+                orientations.Upload();
+                renderablePositions.Upload();
+                renderableOrientations.Upload();
+            }
+
+            // Update render systems if dirty:
+            if (dirtyRendering != 0)
+            {
+                m_RenderSystems.Setup(dirtyRendering);
+                dirtyRendering = 0;
+            }
+
+            // Only render if visible:
+            if (simulateWhenInvisible || isVisible)
+                m_RenderSystems.Render();
+        }
+
+        private void UpdateBounds()
+        {
+            // While in-editor, update active particles and simplices so that
+            // solver bounds are correct.
+            if (initialized)
+            {
+                PushActiveParticles();
+                PushSimplices();
+
+                simulationHandle = UpdateTransformFrame(0);
+                simulationHandle = implementation.UpdateBounds(simulationHandle, 0);
+                simulationHandle?.Complete();
+            }
+        }
+
+        private void RequestReadback()
+        {
+            if (!initialized)
+                return;
+
+            OnRequestReadback?.Invoke(this);
+            foreach (ObiActor actor in actors)
+                actor.RequestReadback();
+
+            implementation.RequestReadback();
+
+            // We must read the entire contacts buffer instead of the amount of contacts the CPU
+            // has from last frame, since we need to get both the counter value and the contacts data on the same
+            // frame. Alternative would be to read back amount of contacts from last frame, but that
+            // means we could find invalid/uninitialized contacts if the amount of contacts decreases from one frame to the next.
+            if (OnCollision != null)
+                colliderContacts.Readback();
+            if (OnParticleCollision != null)
+                particleContacts.Readback();
+
+            if (OnAdvection != null)
+            {
+                foamPositions.Readback();
+                foamVelocities.Readback();
+                foamAttributes.Readback();
+                foamColors.Readback();
+                foamCount.Readback();
+            }
+        }
+
+        /// <summary>
+        /// Adds an actor to the solver.
+        /// </summary> 
+        /// Attemps to add the actor to this solver returning whether this was successful or not. In case the actor was already added, or had no reference to a blueprint, this operation will return false.
+        /// If this was the first actor added to the solver, will attempt to initialize the solver.
+        /// While in play mode, if the actor is sucessfully added to the solver, will also call actor.LoadBlueprint().
+        /// <param name="actor"> An actor.</param>  
+        /// <returns>
+        /// Whether the actor was sucessfully added.
+        /// </returns> 
+        public bool AddActor(ObiActor actor)
+        {
+            if (actor == null || actors == null || actor.sourceBlueprint == null || actor.sourceBlueprint.empty || actors.Contains(actor) || addBuffer.Contains(actor))
+                return false;
+
+            // in-editor, we insert actors right away since the simulation is not running,
+            // yet we need to perform rendering.
+
+            if (!Application.isPlaying)
+                InsertBufferedActor(actor);
+            else
+                addBuffer.Enqueue(actor);
+            return true;
+        }
+
+        /// <summary>  
+        /// Attempts to remove an actor from this solver, and returns  whether this was sucessful or not. 
+        /// </summary>
+        /// Will only reurn true if the actor had been previously added successfully to this solver. 
+        /// If the actor is sucessfully removed from the solver, will also call actor.UnloadBlueprint(). Once the last actor is removed from the solver,
+        /// this method will attempt to tear down the solver.
+        /// <param name="actor"> An actor.</param>  
+        /// <returns>
+        /// Whether the actor was sucessfully removed.
+        /// </returns> 
+        public bool RemoveActor(ObiActor actor)
+        {
+            if (actor == null)
+                return false;
+
+            // remove from add buffer: TODO: use list instead of queue.
+            addBuffer = new Queue<ObiActor>(addBuffer.Where(s => s != actor));
+
+            // Find actor index in our actors array:
+            int index = actors.IndexOf(actor);
+
+            // If we are in charge of this actor indeed, perform all steps necessary to release it.
+            if (index >= 0)
+            {
+                actor.UnloadBlueprint(this);
+
+                for (int i = 0; i < actor.solverIndices.count; ++i)
+                    particleToActor[actor.solverIndices[i]] = null;
+
+                FreeParticles(actor.solverIndices);
+                freeGroupIDs.Push(actor.groupID);
+
+                actors.RemoveAt(index);
+
+                actor.solverIndices.Dispose();
+                actor.solverIndices = null;
+
+                for (int i = 0; i < actor.solverBatchOffsets.Length; ++i)
+                    actor.solverBatchOffsets[i].Clear();
+
+                // If this was the last actor in the solver, tear it down:
+                if (actors.Count == 0)
+                    Teardown();
+
+                return true;
+            }
+
+            return false;
+        }
+
+        private void InsertBufferedActor(ObiActor actor)
+        {
+            if (actor == null)
+                return;
+
+            // If the solver is not initialized yet, do so:
+            Initialize();
+
+            if (actor.solverIndices == null)
+                actor.solverIndices = new ObiNativeIntList();
+            actor.solverIndices.ResizeUninitialized(actor.sourceBlueprint.particleCount);
+
+            AllocateParticles(actor.solverIndices);
+
+            for (int i = 0; i < actor.solverIndices.count; ++i)
+                particleToActor[actor.solverIndices[i]] = new ParticleInActor(actor, i);
+
+            actors.Add(actor);
+
+            if (freeGroupIDs.Count == 0)
+                freeGroupIDs.Push(actors.Count);
+            actor.groupID = freeGroupIDs.Pop();
+
+            actor.LoadBlueprint(this);
+
+            implementation.ParticleCountChanged(this);
+            OnParticleCountChanged?.Invoke(this);
+        }
+
+        /// <summary>  
+        /// Updates solver parameters. 
+        /// </summary>
+        /// Call this after modifying solver or constraint parameters.
+        public void PushSolverParameters()
+        {
+            if (!initialized)
+                return;
+
+            implementation.SetParameters(parameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Distance, ref distanceConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Bending, ref bendingConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ParticleCollision, ref particleCollisionConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ParticleFriction, ref particleFrictionConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Collision, ref collisionConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Friction, ref frictionConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Density, ref densityConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Skin, ref skinConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Volume, ref volumeConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ShapeMatching, ref shapeMatchingConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Tether, ref tetherConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Pin, ref pinConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Stitch, ref stitchConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.StretchShear, ref stretchShearConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.BendTwist, ref bendTwistConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Chain, ref chainConstraintParameters);
+
+            if (OnUpdateParameters != null)
+                OnUpdateParameters(this);
+
+        }
+
+        /// <summary>  
+        /// Returns the parameters used by a given constraint type. 
+        /// </summary>
+        /// If you know the type of the constraints at runtime,
+        /// this is the same as directly accessing the appropiate public Oni.ConstraintParameters struct in the solver.
+        /// <param name="constraintType"> Type of the constraints whose parameters will be returned by this method.</param>  
+        /// <returns>
+        /// Parameters for the constraints of the specified type.
+        /// </returns> 
+        public Oni.ConstraintParameters GetConstraintParameters(Oni.ConstraintType constraintType)
+        {
+            switch (constraintType)
+            {
+                case Oni.ConstraintType.Distance: return distanceConstraintParameters;
+                case Oni.ConstraintType.Bending: return bendingConstraintParameters;
+                case Oni.ConstraintType.ParticleCollision: return particleCollisionConstraintParameters;
+                case Oni.ConstraintType.ParticleFriction: return particleFrictionConstraintParameters;
+                case Oni.ConstraintType.Collision: return collisionConstraintParameters;
+                case Oni.ConstraintType.Friction: return frictionConstraintParameters;
+                case Oni.ConstraintType.Skin: return skinConstraintParameters;
+                case Oni.ConstraintType.Volume: return volumeConstraintParameters;
+                case Oni.ConstraintType.ShapeMatching: return shapeMatchingConstraintParameters;
+                case Oni.ConstraintType.Tether: return tetherConstraintParameters;
+                case Oni.ConstraintType.Pin: return pinConstraintParameters;
+                case Oni.ConstraintType.Stitch: return stitchConstraintParameters;
+                case Oni.ConstraintType.Density: return densityConstraintParameters;
+                case Oni.ConstraintType.StretchShear: return stretchShearConstraintParameters;
+                case Oni.ConstraintType.BendTwist: return bendTwistConstraintParameters;
+                case Oni.ConstraintType.Chain: return chainConstraintParameters;
+
+                default: return new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+            }
+        }
+
+        /// <summary>  
+        /// Returns the runtime representation of constraints of a given type being simulated by this solver.
+        /// </summary>  
+        /// <param name="type"> Type of the constraints that will be returned by this method.</param>  
+        /// <returns>
+        /// The runtime constraints of the type speficied.
+        /// </returns> 
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            int index = (int)type;
+            if (m_Constraints != null && index >= 0 && index < m_Constraints.Length)
+                return m_Constraints[index];
+            return null;
+        }
+
+        private void PushActiveParticles()
+        {
+            if (dirtyActiveParticles)
+            {
+                using (m_PushActiveParticles.Auto())
+                {
+                    activeParticles.Clear();
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        if (actors[i].isActiveAndEnabled)
+                            activeParticles.AddRange(actors[i].solverIndices, actors[i].activeParticleCount);
+                    }
+
+                    implementation.SetActiveParticles(activeParticles);
+
+                    dirtyActiveParticles = false;
+                }
+            }
+        }
+
+        private void PushDeformableTriangles()
+        {
+            if (dirtyDeformableTriangles)
+            {
+                using (m_PushDeformableTriangles.Auto())
+                {
+                    deformableTriangles.Clear();
+                    deformableUVs.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        ObiActor currentActor = actors[i];
+                        if (currentActor.isActiveAndEnabled)
+                        {
+                            currentActor.ProvideDeformableTriangles(deformableTriangles, deformableUVs);
+                        }
+                    }
+
+                    implementation.SetDeformableTriangles(deformableTriangles, deformableUVs);
+
+                    dirtyDeformableTriangles = false;
+                }
+            }
+        }
+
+        private void PushDeformableEdges()
+        {
+            if (dirtyDeformableEdges)
+            {
+                using (m_PushDeformableEdges.Auto())
+                {
+                    deformableEdges.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        ObiActor currentActor = actors[i];
+                        if (currentActor.isActiveAndEnabled)
+                        {
+                            currentActor.ProvideDeformableEdges(deformableEdges);
+                        }
+                    }
+
+                    implementation.SetDeformableEdges(deformableEdges);
+
+                    dirtyDeformableEdges = false;
+                }
+            }
+        }
+
+        private void PushSimplices()
+        {
+
+            if (dirtySimplices != Oni.SimplexType.None)
+            {
+                using (m_PushSimplices.Auto())
+                {
+                    simplices.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Point) != 0)
+                        points.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Edge) != 0)
+                        edges.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Triangle) != 0)
+                        triangles.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        var currentActor = actors[i];
+
+                        if (currentActor.isActiveAndEnabled && currentActor.isLoaded)
+                        {
+                            //simplex based contacts
+                            if (currentActor.surfaceCollisions)
+                            {
+                                if (currentActor.sharedBlueprint.points != null && (dirtySimplices & Oni.SimplexType.Point) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.points.Length; ++j)
+                                    {
+                                        int actorIndex = currentActor.sharedBlueprint.points[j];
+
+                                        if (actorIndex < currentActor.activeParticleCount)
+                                            points.Add(currentActor.solverIndices[actorIndex]);
+                                    }
+
+                                if (currentActor.sharedBlueprint.edges != null && (dirtySimplices & Oni.SimplexType.Edge) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.edges.Length / 2; ++j)
+                                    {
+                                        int actorIndex1 = currentActor.sharedBlueprint.edges[j * 2];
+                                        int actorIndex2 = currentActor.sharedBlueprint.edges[j * 2 + 1];
+
+                                        if (actorIndex1 < currentActor.activeParticleCount && actorIndex2 < currentActor.activeParticleCount)
+                                        {
+                                            edges.Add(currentActor.solverIndices[actorIndex1]);
+                                            edges.Add(currentActor.solverIndices[actorIndex2]);
+                                        }
+                                    }
+
+                                if (currentActor.sharedBlueprint.triangles != null && (dirtySimplices & Oni.SimplexType.Triangle) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.triangles.Length / 3; ++j)
+                                    {
+                                        int actorIndex1 = currentActor.sharedBlueprint.triangles[j * 3];
+                                        int actorIndex2 = currentActor.sharedBlueprint.triangles[j * 3 + 1];
+                                        int actorIndex3 = currentActor.sharedBlueprint.triangles[j * 3 + 2];
+
+                                        if (actorIndex1 < currentActor.activeParticleCount &&
+                                            actorIndex2 < currentActor.activeParticleCount &&
+                                            actorIndex3 < currentActor.activeParticleCount)
+                                        {
+                                            triangles.Add(currentActor.solverIndices[actorIndex1]);
+                                            triangles.Add(currentActor.solverIndices[actorIndex2]);
+                                            triangles.Add(currentActor.solverIndices[actorIndex3]);
+                                        }
+                                    }
+                            }
+                            // particle based contacts
+                            else if ((dirtySimplices & Oni.SimplexType.Point) != 0)
+                            {
+                                // generate a point simplex out of each active particle:
+                                points.AddRange(currentActor.solverIndices, currentActor.activeParticleCount);
+                            }
+                        }
+                    }
+
+                    simplices.EnsureCapacity(points.count + edges.count + triangles.count);
+                    simplices.AddRange(triangles);
+                    simplices.AddRange(edges);
+                    simplices.AddRange(points);
+
+                    m_SimplexCounts = new SimplexCounts(points.count, edges.count / 2, triangles.count / 3);
+
+                    cellCoords.ResizeInitialized(m_SimplexCounts.simplexCount);
+
+                    implementation.SetSimplices(simplices, m_SimplexCounts);
+
+                    dirtySimplices = Oni.SimplexType.None;
+                }
+            }
+        }
+
+        private void PushConstraints()
+        {
+            if (dirtyConstraints != 0)
+            {
+                // Clear all dirty constraints:
+                for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                    if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                        m_Constraints[i].Clear();
+
+                // Iterate over all actors, merging their batches together:
+                for (int k = 0; k < actors.Count; ++k)
+                {
+                    if (actors[k].isLoaded)
+                    {
+                        for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                            if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                            {
+                                var constraints = actors[k].GetConstraintsByType((Oni.ConstraintType)i);
+                                m_Constraints[i].Merge(actors[k], constraints);
+                            }
+                    }
+                }
+
+                // Readd the constraints to the solver:
+                for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                    if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                        m_Constraints[i].AddToSolver(this);
+
+                // Reset the dirty flag:
+                dirtyConstraints = 0;
+            }
+        }
+
+        /**
+         * Updates solver bounds, then checks if they're visible from at least one camera. If so, sets isVisible to true, false otherwise.
+         */
+                    private void UpdateVisibility()
+        {
+
+            using (m_UpdateVisibilityPerfMarker.Auto())
+            {
+                using (m_GetSolverBoundsPerfMarker.Auto())
+                {
+                    // get bounds in solver space:
+                    Vector3 min = Vector3.zero, max = Vector3.zero;
+                    implementation.GetBounds(ref min, ref max);
+                    m_Bounds.SetMinMax(min, max);
+                }
+
+                if (m_Bounds.AreValid())
+                {
+                    using (m_TestBoundsPerfMarker.Auto())
+                    {
+                        // transform bounds to world space:
+                        m_BoundsWS = m_Bounds.Transform(transform.localToWorldMatrix);
+
+                        using (m_GetAllCamerasPerfMarker.Auto())
+                        {
+                            Array.Resize(ref sceneCameras, Camera.allCamerasCount);
+                            Camera.GetAllCameras(sceneCameras);
+                        }
+
+                        foreach (Camera cam in sceneCameras)
+                        {
+                            GeometryUtility.CalculateFrustumPlanes(cam, planes);
+                            if (GeometryUtility.TestPlanesAABB(planes, m_BoundsWS))
+                            {
+                                if (!isVisible)
+                                {
+                                    isVisible = true;
+                                    foreach (ObiActor actor in actors)
+                                        actor.OnSolverVisibilityChanged(isVisible);
+                                }
+                                return;
+                            }
+                        }
+                    }
+                }
+
+                if (isVisible)
+                {
+                    isVisible = false;
+                    foreach (ObiActor actor in actors)
+                        actor.OnSolverVisibilityChanged(isVisible);
+                }
+            }
+        }
+
+        private void InitializeTransformFrame()
+        {
+            Vector4 translation = transform.position;
+            Vector4 scale = transform.lossyScale;
+            Quaternion rotation = transform.rotation;
+
+            implementation.InitializeFrame(translation, scale, rotation);
+        }
+
+        private IObiJobHandle UpdateTransformFrame(float dt)
+        {
+            Vector4 translation = transform.position;
+            Vector4 scale = transform.lossyScale;
+            Quaternion rotation = transform.rotation;
+
+            implementation.UpdateFrame(translation, scale, rotation, dt);
+            return implementation.ApplyFrame(worldLinearInertiaScale, worldAngularInertiaScale, dt);
+        }
+
+        public void RegisterRenderSystem(IRenderSystem renderSystem)
+        {
+            m_RenderSystems.RegisterRenderSystem(renderSystem);
+        }
+
+        public void UnregisterRenderSystem(IRenderSystem renderSystem)
+        {
+            m_RenderSystems.UnregisterRenderSystem(renderSystem);
+        }
+
+        public RenderSystem<T> GetRenderSystem<T>() where T : ObiRenderer<T>
+        {
+            return m_RenderSystems.GetRenderSystem<T>();
+        }
+
+        public IRenderSystem GetRenderSystem(Oni.RenderingSystemType type)
+        {
+            return m_RenderSystems.GetRenderSystem(type);
+        }
+
+        /// <summary>
+        /// Enqueues a generic spatial query to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
+        /// </summary>
+        /// <param name="shape"> Query shape to test against all simplices in the solver.</param>
+        /// <param name="transform"> Transform to apply to the query shape.</param>
+        /// <returns>
+        /// Index of the query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
+        /// </returns>
+        public int EnqueueSpatialQuery(QueryShape shape, AffineTransform transform)
+        {
+            // if the solver is not initialized, bail out.
+            if (!initialized)
+                return -1;
+
+            int index = bufferedQueryShapes.count;
+            bufferedQueryShapes.Add(shape);
+            bufferedQueryTransforms.Add(transform);
+            return index;
+        }
+
+        /// <summary>
+        /// Enqueues multiple generic spatial query to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
+        /// </summary>
+        /// <param name="shapes"> Query shapes to test against all simplices in the solver.</param>
+        /// <param name="transforms"> Transforms to apply to the query shapes.</param>
+        /// <returns>
+        /// Index of the first query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
+        /// </returns>
+        public int EnqueueSpatialQueries(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms)
+        {
+            // if the solver is not initialized or input is not ok, bail out.
+            if (!initialized || shapes == null || transforms == null || shapes.count != transforms.count)
+                return -1;
+
+            int index = bufferedQueryShapes.count;
+            bufferedQueryShapes.AddRange(shapes);
+            bufferedQueryTransforms.AddRange(transforms);
+            return index;
+        }
+
+        /// <summary>
+        /// Enqueues a raycast to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
+        /// </summary>
+        /// <param name="ray"> Ray to cast against all simplices in the solver. Expressed in world space.</param>
+        /// <param name="filter"> Filter (mask, category) used to filter out collisions against certain simplices. </param>
+        /// <param name="maxDistance"> Ray length. </param>
+        /// <param name="rayThickness">
+        /// Ray thickness. If the ray hits a simplex, hitInfo will contain a point on the simplex.
+        /// If it merely passes near the simplex (within its thickness distance, but no actual hit), it will contain the point on the ray closest to the simplex surface. </param>
+        /// <returns>
+        /// Index of the query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
+        /// </returns>
+        public int EnqueueRaycast(Ray ray, int filter, float maxDistance = 100, float rayThickness = 0)
+        {
+            // if the solver is not initialized or simulation is currently underway, bail out.
+            if (!initialized)
+                return -1;
+
+            int index = bufferedQueryShapes.count;
+
+            bufferedQueryShapes.Add(new QueryShape
+            {
+                type = QueryShape.QueryType.Ray,
+                center = ray.origin,
+                size = ray.direction * maxDistance,
+                contactOffset = rayThickness,
+                maxDistance = 0.0001f,
+                filter = filter
+            });
+
+            bufferedQueryTransforms.Add(new AffineTransform(Vector4.zero, Quaternion.identity, Vector4.one));
+
+            return index;
+        }
+
+    }
+
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta
new file mode 100644
index 00000000..3ba5ee78
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9d174fab52f0c4b8399f25d5c3ea524c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 4bb17fa3a0a95413a817e60391d26010, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils.meta
new file mode 100644
index 00000000..7aa03e40
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 8114c2ae03b5c4118a326bc9805a3362
+folderAsset: yes
+timeCreated: 1454882590
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes.meta
new file mode 100644
index 00000000..6222b7a0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b8154151b8aa747e3870dae448f70d4b
+folderAsset: yes
+timeCreated: 1511453393
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs
new file mode 100644
index 00000000..e8cecb04
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs
@@ -0,0 +1,45 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class ChildrenOnly : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+		public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+
+			float height = 0;
+			SerializedProperty it = property;
+			int depth = it.depth;
+			it.NextVisible(true);
+			do 
+			{
+				EditorGUI.PropertyField(new Rect(position.x,position.y+height,position.width,EditorGUIUtility.singleLineHeight),it,true);
+				height += EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing;
+			}while (it.NextVisible(false) && it.depth != depth);
+
+	    }
+	 
+	    internal override float? GetPropertyHeight(SerializedProperty property, GUIContent label)
+	    {
+
+			float height = -EditorGUIUtility.standardVerticalSpacing;
+			SerializedProperty it = property;
+			int depth = it.depth;
+			it.NextVisible(true);
+			do 
+			{
+			    height += EditorGUI.GetPropertyHeight(it, label) + EditorGUIUtility.standardVerticalSpacing;
+			}while (it.NextVisible(false) && it.depth != depth);
+			return height;
+
+	    }
+		#endif
+	}
+
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta
new file mode 100644
index 00000000..4217d036
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 37995b0258e3041208a4b13bd6feb31c
+timeCreated: 1511965883
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs
new file mode 100644
index 00000000..113dfa1f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs
@@ -0,0 +1,26 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	#if UNITY_EDITOR
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class DisplayAs : MultiPropertyAttribute
+	{
+	    string name;
+	    public DisplayAs(string name)
+	    {
+	        this.name = name;
+	    }
+
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+			EditorGUI.PropertyField(position,property,new GUIContent(name),true);
+	    }
+	}
+	#endif
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta
new file mode 100644
index 00000000..4d1363d5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: dd2e6690a4e514f0b93596b416ea6e1a
+timeCreated: 1515069828
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs
new file mode 100644
index 00000000..6454939d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class Indent : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+		internal override void OnPreGUI(Rect position, SerializedProperty property)
+		{
+			EditorGUI.indentLevel++;
+		}
+		internal override void OnPostGUI(Rect position, SerializedProperty property)
+		{
+			EditorGUI.indentLevel--;
+		}
+		#endif
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta
new file mode 100644
index 00000000..ccaf4a24
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: a02d36b0684b3461fad08bed56e9798c
+timeCreated: 1511529530
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs
new file mode 100644
index 00000000..9378ce37
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using System.Reflection;
+
+namespace Obi{
+
+[System.AttributeUsage(System.AttributeTargets.Field)]
+public class InspectorButtonAttribute : PropertyAttribute
+{
+	public static float kDefaultButtonWidth = 80;
+	
+	public readonly string MethodName;
+	
+	private float _buttonWidth = kDefaultButtonWidth;
+	public float ButtonWidth
+	{
+		get { return _buttonWidth; }
+		set { _buttonWidth = value; }
+	}
+	
+	public InspectorButtonAttribute(string MethodName)
+	{
+		this.MethodName = MethodName;
+	}
+}
+
+#if UNITY_EDITOR
+[CustomPropertyDrawer(typeof(InspectorButtonAttribute))]
+public class InspectorButtonPropertyDrawer : PropertyDrawer
+{
+	private MethodInfo _eventMethodInfo = null;
+	
+	public override void OnGUI(Rect position, SerializedProperty prop, GUIContent label)
+	{
+		InspectorButtonAttribute inspectorButtonAttribute = (InspectorButtonAttribute)attribute;
+		Rect buttonRect = new Rect(position.x + (position.width - inspectorButtonAttribute.ButtonWidth) * 0.5f, position.y, inspectorButtonAttribute.ButtonWidth, position.height);
+		if (GUI.Button(buttonRect, label.text))
+		{
+			System.Type eventOwnerType = prop.serializedObject.targetObject.GetType();
+			string eventName = inspectorButtonAttribute.MethodName;
+			
+			if (_eventMethodInfo == null)
+				_eventMethodInfo = eventOwnerType.GetMethod(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+			
+			if (_eventMethodInfo != null)
+				_eventMethodInfo.Invoke(prop.serializedObject.targetObject, null);
+			else
+				Debug.LogWarning(string.Format("InspectorButton: Unable to find method {0} in {1}", eventName, eventOwnerType));
+		}
+	}
+}
+#endif
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta
new file mode 100644
index 00000000..cc768a2e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: bada34fec41c44b4b90af1fe27ca7a95
+timeCreated: 1440029519
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs
new file mode 100644
index 00000000..458d1b88
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs
@@ -0,0 +1,21 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[AttributeUsage(AttributeTargets.Field)]
+	public class LayerField : MultiPropertyAttribute
+	{
+#if UNITY_EDITOR
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+			property.intValue = EditorGUI.LayerField(position, label, property.intValue);
+        }
+#endif
+    }
+
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta
new file mode 100644
index 00000000..e7694c6c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 636fa558efd1441fdbf787bdda34c53a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs
new file mode 100644
index 00000000..1de1f01b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs
@@ -0,0 +1,41 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MinMaxAttribute : MultiPropertyAttribute
+	{
+	    float min;
+	    float max;
+	    public MinMaxAttribute(float min, float max)
+	    {
+	        this.min = min;
+	        this.max = max;
+	    }
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        if (property.propertyType == SerializedPropertyType.Vector2){
+				float minValue = property.vector2Value.x; 
+            	float maxValue = property.vector2Value.y;
+
+	            EditorGUI.MinMaxSlider(position, label, ref minValue, ref maxValue, min, max);
+
+				var vec = Vector2.zero;
+	            vec.x = minValue;
+	            vec.y = maxValue;
+	
+	            property.vector2Value = vec;
+			}else{
+            	EditorGUI.LabelField(position, label.text, "Use MinMaxAttribute with Vector2.");
+			}
+	    }
+		#endif
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta
new file mode 100644
index 00000000..9fce9330
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1ac8601bd46d146168b508598e8a4f8c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs
new file mode 100644
index 00000000..8942696d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs
@@ -0,0 +1,29 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MultiDelayed : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        // Now draw the property as a Slider or an IntSlider based on whether it's a float or integer.
+	        if (property.propertyType == SerializedPropertyType.Float)
+	            EditorGUI.DelayedFloatField(position, property, label);
+	        else if (property.propertyType == SerializedPropertyType.Integer)
+	            EditorGUI.DelayedIntField(position, property, label);
+			else if (property.propertyType == SerializedPropertyType.String)
+	            EditorGUI.DelayedTextField(position, property, label);
+	        else
+	            EditorGUI.LabelField(position, label.text, "Use MultiRange with float or int.");
+	    }
+		#endif
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta
new file mode 100644
index 00000000..7c128181
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 17d0e7e43f7f844aba84497d6385c920
+timeCreated: 1511969575
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
new file mode 100644
index 00000000..8dc8923d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
@@ -0,0 +1,97 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public abstract class MultiPropertyAttribute : PropertyAttribute
+	{
+		#if UNITY_EDITOR
+		public IOrderedEnumerable<object> stored = null;
+
+	    public virtual void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+		{
+			EditorGUI.PropertyField(position,property,label,true);
+		}
+	 
+		internal virtual void OnPreGUI(Rect position, SerializedProperty property){}
+		internal virtual void OnPostGUI(Rect position, SerializedProperty property){}
+
+		internal virtual bool IsVisible(SerializedProperty property){return true;}
+	    internal virtual float? GetPropertyHeight( SerializedProperty property, GUIContent label){return null;}
+		#endif
+	}
+
+	#if UNITY_EDITOR
+	[CustomPropertyDrawer(typeof(MultiPropertyAttribute),true)]
+	public class MultiPropertyDrawer : PropertyDrawer
+	{
+		private MultiPropertyAttribute RetrieveAttributes()
+		{
+			MultiPropertyAttribute mAttribute = attribute as MultiPropertyAttribute;
+
+			// Get the attribute list, sorted by "order".
+	        if (mAttribute.stored == null)
+	        {
+	            mAttribute.stored = fieldInfo.GetCustomAttributes(typeof(MultiPropertyAttribute), false).OrderBy(s => ((PropertyAttribute)s).order);
+	        }
+
+			return mAttribute;
+		}
+
+	    public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+	    {
+	        MultiPropertyAttribute mAttribute = RetrieveAttributes();
+
+			// If the attribute is invisible, regain the standard vertical spacing.
+			foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				if (!attr.IsVisible(property)) 
+					return -EditorGUIUtility.standardVerticalSpacing;
+
+            // In case no attribute returns a modified height, return the property's default one:
+            float height = EditorGUI.GetPropertyHeight(property, label, true);
+            //base.GetPropertyHeight(property, label);
+
+			// Check if any of the attributes wants to modify height:
+	        foreach (object atr in mAttribute.stored)
+	        {
+	            if (atr as MultiPropertyAttribute != null)
+	            {
+	                var tempheight = ((MultiPropertyAttribute)atr).GetPropertyHeight(property, label);
+	                if (tempheight.HasValue)
+	                {
+	                    height = tempheight.Value;
+	                    break;
+	                }
+	            }
+	        }
+	        return height;
+	    }
+
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        MultiPropertyAttribute mAttribute = RetrieveAttributes();
+
+			// Calls to IsVisible. If it returns false for any attribute, the property will not be rendered.
+			foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				if (!attr.IsVisible(property)) return;
+
+			// Calls to OnPreRender before the last attribute draws the UI. 
+	        foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				attr.OnPreGUI(position,property);
+
+			// The last attribute is in charge of actually drawing something:
+			((MultiPropertyAttribute)mAttribute.stored.Last()).OnGUI(position,property,label);
+
+			// Calls to OnPostRender after the last attribute draws the UI. These are called in inverse order.
+	        foreach (MultiPropertyAttribute attr in mAttribute.stored.Reverse())
+				attr.OnPostGUI(position,property);
+	    }
+	}
+	#endif
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta
new file mode 100644
index 00000000..9bda2a26
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 71f4de68ec5de40edbf3e4f24c49ba18
+timeCreated: 1511952779
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs
new file mode 100644
index 00000000..dfb5a4c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs
@@ -0,0 +1,34 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MultiRange : MultiPropertyAttribute
+	{
+	    float min;
+	    float max;
+	    public MultiRange(float min, float max)
+	    {
+	        this.min = min;
+	        this.max = max;
+	    }
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        // Now draw the property as a Slider or an IntSlider based on whether it's a float or integer.
+	        if (property.propertyType == SerializedPropertyType.Float)
+	            EditorGUI.Slider(position, property, min, max, label);
+	        else if (property.propertyType == SerializedPropertyType.Integer)
+	            EditorGUI.IntSlider(position, property, (int)min, (int)max, label);
+	        else
+	            EditorGUI.LabelField(position, label.text, "Use MultiRange with float or int.");
+	    }
+		#endif
+	}
+
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta
new file mode 100644
index 00000000..946d7f26
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: ab2178abf0a6343e19742febdd9784e3
+timeCreated: 1511954360
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
new file mode 100644
index 00000000..b5863040
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
@@ -0,0 +1,168 @@
+using System;
+using System.Reflection;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+ 
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+    public class SerializeProperty : PropertyAttribute
+    {
+        public string PropertyName { get; private set; }
+ 
+        public SerializeProperty(string propertyName)
+        {
+            PropertyName = propertyName;
+        }
+    }
+ 
+    #if UNITY_EDITOR
+    [CustomPropertyDrawer(typeof(SerializeProperty))]
+    public class SerializePropertyAttributeDrawer : PropertyDrawer
+    {
+        private PropertyInfo propertyFieldInfo = null;
+		private object target = null;
+ 
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+			if (target == null)
+            	target = GetSource(property);
+ 
+            // Find the property field using reflection, in order to get access to its getter/setter.
+            if (propertyFieldInfo == null)
+                propertyFieldInfo = target.GetType().GetProperty(((SerializeProperty)attribute).PropertyName,
+                                                     BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
+ 
+            if (propertyFieldInfo != null)
+            {
+  				// Retrieve the value using the property getter:
+                object value = propertyFieldInfo.GetValue(target,null);
+ 
+	            // Draw the property:
+				EditorGUI.BeginProperty(position,label,property);
+	            EditorGUI.BeginChangeCheck();
+	            value = DrawProperty(position,property.propertyType,propertyFieldInfo.PropertyType,value,label);
+	 
+	            // If any changes were detected, call the property setter:
+	            if (EditorGUI.EndChangeCheck() && propertyFieldInfo != null)
+                {
+                    foreach (var t in property.serializedObject.targetObjects)
+                    {
+                        // Record object state for undo:
+                        Undo.RecordObject(t, "Inspector");
+
+                        // Call property setter:
+                        propertyFieldInfo.SetValue(t, value, null);
+                        SetPropertyValue(property, propertyFieldInfo.PropertyType, value);
+
+                        // Record prefab modification:
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                    }
+                }
+				EditorGUI.EndProperty();
+
+			}else
+            {
+				EditorGUI.LabelField(position,"Error: could not retrieve property.");
+			}
+        }
+
+		private object GetSource(SerializedProperty property)
+        {
+			object trgt = property.serializedObject.targetObject;
+			string[] data = property.propertyPath.Split('.');
+			
+			if (data.Length == 1) 
+				return trgt;
+			else{
+				for (int i = 0; i < data.Length-1;++i){
+					trgt = trgt.GetType().GetField(data[i]).GetValue(trgt);
+				}
+			}
+			
+			return trgt;
+		} 
+ 
+        private object DrawProperty(Rect position, SerializedPropertyType propertyType, Type type, object value, GUIContent label)
+        {
+            switch (propertyType)
+            {
+                case SerializedPropertyType.Integer:
+                    return EditorGUI.IntField(position,label,(int)value);
+                case SerializedPropertyType.Boolean:
+                    return EditorGUI.Toggle(position,label,(bool)value);
+                case SerializedPropertyType.Float:
+                    return EditorGUI.FloatField(position,label,(float)value);
+                case SerializedPropertyType.String:
+                    return EditorGUI.TextField(position,label,(string)value);
+                case SerializedPropertyType.Color:
+                    return EditorGUI.ColorField(position,label,(Color)value);
+                case SerializedPropertyType.ObjectReference:
+                    return EditorGUI.ObjectField(position,label,(UnityEngine.Object)value,type,true);
+                case SerializedPropertyType.ExposedReference:
+                    return EditorGUI.ObjectField(position,label,(UnityEngine.Object)value,type,true);
+                case SerializedPropertyType.LayerMask:
+                    return EditorGUI.LayerField(position,label,(int)value);
+                case SerializedPropertyType.Enum:
+                    return EditorGUI.EnumPopup(position,label,(Enum)value);
+                case SerializedPropertyType.Vector2:
+                    return EditorGUI.Vector2Field(position,label,(Vector2)value);
+                case SerializedPropertyType.Vector3:
+                    return EditorGUI.Vector3Field(position,label,(Vector3)value);
+                case SerializedPropertyType.Vector4:
+                    return EditorGUI.Vector4Field(position,label,(Vector4)value);
+                case SerializedPropertyType.Rect:
+                    return EditorGUI.RectField(position,label,(Rect)value);
+                case SerializedPropertyType.AnimationCurve:
+                    return EditorGUI.CurveField(position,label,(AnimationCurve)value);
+                case SerializedPropertyType.Bounds:
+                    return EditorGUI.BoundsField(position,label,(Bounds)value);
+                default:
+                    throw new NotImplementedException("Unimplemented propertyType "+propertyType+".");
+            }
+        }
+
+        private void SetPropertyValue(SerializedProperty property, Type type, object value)
+        {
+            switch (property.propertyType)
+            {
+                case SerializedPropertyType.Integer: 
+                    property.intValue = (int)value; break;
+                case SerializedPropertyType.Boolean:
+                    property.boolValue = (bool)value; break;
+                case SerializedPropertyType.Float:
+                    property.floatValue = (float)value; break;
+                case SerializedPropertyType.String:
+                    property.stringValue = (string)value; break;
+                case SerializedPropertyType.Color:
+                    property.colorValue = (Color)value; break;
+                case SerializedPropertyType.ObjectReference:
+                    property.objectReferenceValue = (UnityEngine.Object)value; break;
+                case SerializedPropertyType.ExposedReference:
+                    property.exposedReferenceValue = (UnityEngine.Object)value; break;
+                case SerializedPropertyType.LayerMask:
+                    property.intValue = (int)value; break;
+                case SerializedPropertyType.Enum:
+                    property.enumValueIndex = (int)value; break;
+                case SerializedPropertyType.Vector2:
+                    property.vector2Value = (Vector2)value; break;
+                case SerializedPropertyType.Vector3:
+                    property.vector3Value = (Vector3)value; break;
+                case SerializedPropertyType.Vector4:
+                    property.vector4Value = (Vector4)value; break;
+                case SerializedPropertyType.Rect:
+                    property.rectValue = (Rect)value; break;
+                case SerializedPropertyType.AnimationCurve:
+                    property.animationCurveValue = (AnimationCurve)value; break;
+                case SerializedPropertyType.Bounds:
+                    property.boundsValue = (Bounds)value; break;
+                default:
+                    throw new NotImplementedException("Unimplemented propertyType " + property.propertyType + ".");
+            }
+        }
+
+    }
+    #endif
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta
new file mode 100644
index 00000000..ce59fb05
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 9b22b3eff389444b1b4ab3bc2d6402b6
+timeCreated: 1511456560
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
new file mode 100644
index 00000000..16920a9b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using System.Reflection;
+ 
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class VisibleIf : MultiPropertyAttribute
+	{
+	    public string MethodName { get; private set; }
+		public bool Negate {get; private set;}
+
+		private MethodInfo eventMethodInfo = null;
+		private FieldInfo fieldInfo = null;
+        private PropertyInfo propertyInfo = null;
+
+		public VisibleIf(string methodName, bool negate = false)
+	    {
+	        this.MethodName = methodName;
+			this.Negate = negate;
+	    } 
+
+		#if UNITY_EDITOR
+	    internal override bool IsVisible(SerializedProperty property)
+	    {
+	        return Visibility(property) == !Negate;
+	    }
+
+		private bool Visibility(SerializedProperty property)
+	    {
+			System.Type eventOwnerType = property.serializedObject.targetObject.GetType();
+			string eventName = MethodName;
+			
+			// Try finding a method with the name provided:
+			if (eventMethodInfo == null)
+				eventMethodInfo = eventOwnerType.GetMethod(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+
+			// If we could not find a method with that name, look for a field:
+			if (eventMethodInfo == null && fieldInfo == null)
+				fieldInfo = eventOwnerType.GetField(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+
+            // or maybe a property
+            if (eventMethodInfo == null && fieldInfo == null && propertyInfo == null)
+                propertyInfo = eventOwnerType.GetProperty(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+
+            if (eventMethodInfo != null)
+				return (bool)eventMethodInfo.Invoke(property.serializedObject.targetObject, null); 
+			else if (fieldInfo != null)
+				return (bool)fieldInfo.GetValue(property.serializedObject.targetObject);
+            else if (propertyInfo != null)
+                return (bool)propertyInfo.GetValue(property.serializedObject.targetObject);
+            else
+				Debug.LogWarning(string.Format("VisibleIf: Unable to find method, field or property {0} in {1}", eventName, eventOwnerType));
+
+			return true;
+	    }
+		#endif
+	}
+	
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta
new file mode 100644
index 00000000..c89b2e17
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: e52da649989a94da8b1a5d1e1fe5ff8a
+timeCreated: 1511456085
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines.meta
new file mode 100644
index 00000000..3ceb9d3e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 232dbc8dfe1624cc3ac35594884d0edd
+folderAsset: yes
+timeCreated: 1438097540
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
new file mode 100644
index 00000000..199ebcbe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
@@ -0,0 +1,130 @@
+using UnityEngine;
+using System;
+using System.Diagnostics;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+
+/**
+ * Implementation of asynchronous jobs that can return data, throw exceptions, and have a duration threshold 
+ * below which they are run synchronously.
+ */
+public class CoroutineJob{
+
+	public class ProgressInfo{
+		public string userReadableInfo;
+		public float progress;
+		public ProgressInfo(string userReadableInfo,float progress){
+			this.userReadableInfo = userReadableInfo;
+			this.progress = progress;
+		}
+	}
+
+	public object Result {
+		get{
+			if(e != null){
+				throw e;
+			}
+			return result;
+		}
+	}
+
+	public bool IsDone{
+		get{
+			return isDone;
+		}
+	}
+
+	public bool RaisedException{
+		get{
+			return raisedException;
+		}
+	}
+
+	private object result;
+	private bool isDone;
+	private bool raisedException;
+	private bool stop;
+	private Exception e;
+
+	public int asyncThreshold = 250; //Time in milliseconds that must pass before job switches to async mode. By default, the job is asynchronous from the start.
+
+	private void Init(){
+		isDone = false;
+		raisedException = false;
+		stop = false;
+        result = null;
+	}
+
+	/**
+	 * Runs the provided coroutine in a completely syncrhonous way, just like it would if it wasn't a coroutine, and 
+	 * returns a list of all coroutine results, in the order they were yielded. Will immediately rethrow any exceptions thrown by the coroutine.
+	 */
+	public static object RunSynchronously(IEnumerator coroutine){
+
+		List<object> results = new List<object>();
+
+		if (coroutine == null){
+            return results;
+		}
+
+		try{
+			while(coroutine.MoveNext()){
+				results.Add(coroutine.Current);
+			}
+		}catch(Exception e){
+			throw e;
+        }
+
+		return results;
+
+	}
+
+	public IEnumerator Start(IEnumerator coroutine){
+
+		Init();
+
+		if (coroutine == null){
+			isDone = true;
+			yield break;
+		}
+
+		Stopwatch sw = new Stopwatch();
+		sw.Start();
+
+		while(!stop){
+
+			try{
+				if(!coroutine.MoveNext()){
+					isDone = true;
+					sw.Stop();
+					yield break;
+				}
+			}
+			catch(Exception e){
+				this.e = e;
+				raisedException = true;
+				UnityEngine.Debug.LogException(e);
+				isDone = true;
+				sw.Stop();
+				yield break;
+			}
+
+			result = coroutine.Current;
+
+			//If too much time has passed sine job start, switch to async mode:
+			if (sw.ElapsedMilliseconds > asyncThreshold){
+				yield return result;
+			}
+		}
+
+	}
+
+	public void Stop(){
+		stop = true; 
+	}
+
+}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta
new file mode 100644
index 00000000..ec16b06f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: b34adb10b4f264b629f464bfc872d515
+timeCreated: 1438097545
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
new file mode 100644
index 00000000..7a7f83bb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
@@ -0,0 +1,36 @@
+using UnityEngine;
+#if (UNITY_EDITOR)
+	using UnityEditor;
+#endif
+using System.Collections;
+
+namespace Obi
+{
+    public class EditorCoroutine
+    {
+
+	    public static bool ShowCoroutineProgressBar(string title, IEnumerator coroutine)
+        {
+
+            bool cancelled = false;
+
+        #if (UNITY_EDITOR)
+            if (coroutine != null){
+
+                while (coroutine.MoveNext() && !cancelled)
+                {
+                    var progressInfo = coroutine.Current as CoroutineJob.ProgressInfo;
+                    cancelled |= EditorUtility.DisplayCancelableProgressBar(title, progressInfo.userReadableInfo, progressInfo.progress);
+                }
+
+			    // once finished, set coroutine to null and clear progress bar.
+			    coroutine = null;
+			    EditorUtility.ClearProgressBar();
+
+            }
+        #endif
+            return cancelled;
+        }
+		
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs.meta
new file mode 100644
index 00000000..023fca34
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 65c4fa737e0dc4ac8acb314d96b75115
+timeCreated: 1440488659
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces.meta
new file mode 100644
index 00000000..bce277fb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 57e51b62adcc84dc19a301be9ebf0e51
+folderAsset: yes
+timeCreated: 1480348631
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs
new file mode 100644
index 00000000..22d52ece
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs
@@ -0,0 +1,128 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiCollider))]
+	public class ObiForceZone : MonoBehaviour
+	{
+        [SerializeProperty("sourceCollider")]
+        [SerializeField] private ObiCollider m_SourceCollider;
+
+        protected ObiForceZoneHandle forcezoneHandle;
+
+        /// <summary>
+        /// The ObiCollider this ObiForceZone should affect.
+        /// </summary>
+        /// This is automatically set when you first create the ObiForceZone component, but you can override it afterwards.
+        public ObiCollider sourceCollider
+        {
+            set
+            {
+                if (value != null && value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The ObiCollider component must reside in the same GameObject as ObiForceZone.");
+                    return;
+                }
+
+                RemoveCollider();
+                m_SourceCollider = value;
+                AddCollider();
+
+            }
+            get { return m_SourceCollider; }
+        }
+
+        public ObiForceZoneHandle handle
+        {
+            get
+            {
+                if (forcezoneHandle == null || !forcezoneHandle.isValid)
+                {
+                    var world = ObiColliderWorld.GetInstance();
+
+                    // create the material:
+                    forcezoneHandle = world.CreateForceZone();
+                    forcezoneHandle.owner = this;
+                }
+                return forcezoneHandle;
+            }
+        }
+
+        public ForceZone.ZoneType type;
+        public ForceZone.ForceMode mode;
+        public float intensity;
+
+        [Header("Damping")]
+        public ForceZone.DampingDirection dampingDir;
+        public float damping = 0;
+
+        [Header("Falloff")]
+        public float minDistance;
+        public float maxDistance;
+        [Min(0)]
+        public float falloffPower = 1;
+
+        [Header("Pulse")]
+        public float pulseIntensity;
+        public float pulseFrequency;
+        public float pulseSeed;
+
+        protected float intensityVariation;
+
+        public void OnEnable()
+        {
+            FindSourceCollider();
+
+            //handle = ObiColliderWorld.GetInstance().CreateForceZone();
+            //handle.owner = this;
+        }
+
+        public void OnDisable()
+        {
+            RemoveCollider();
+            ObiColliderWorld.GetInstance().DestroyForceZone(handle);
+        }
+
+        private void FindSourceCollider()
+        {
+            if (sourceCollider == null)
+                sourceCollider = GetComponent<ObiCollider>();
+            else
+                AddCollider();
+        }
+
+        private void AddCollider()
+        {
+            if (m_SourceCollider != null)
+                m_SourceCollider.ForceZone = this;
+        }
+
+        private void RemoveCollider()
+        {
+            if (m_SourceCollider != null)
+                m_SourceCollider.ForceZone = null;
+        }
+
+        public virtual void UpdateIfNeeded()
+        {
+            var fc = ObiColliderWorld.GetInstance().forceZones[handle.index];
+            fc.type = type;
+            fc.mode = mode;
+            fc.intensity = intensity + intensityVariation;
+            fc.minDistance = minDistance;
+            fc.maxDistance = maxDistance;
+            fc.falloffPower = falloffPower;
+            fc.damping = damping;
+            fc.dampingDir = dampingDir;
+            ObiColliderWorld.GetInstance().forceZones[handle.index] = fc;
+        }
+
+        public void Update()
+        {
+            if (Application.isPlaying)
+                intensityVariation = Mathf.PerlinNoise(Time.time * pulseFrequency, pulseSeed) * pulseIntensity;
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta
new file mode 100644
index 00000000..b0a77b8f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4978a525b6164476d96f5d28d8b309f8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d7b67d3b64785476bb7520aa3190fee3, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
new file mode 100644
index 00000000..9b021344
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
@@ -0,0 +1,154 @@
+using UnityEngine;
+using UnityEngine.Events;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class ObiContactEventDispatcher : MonoBehaviour
+    {
+        private ObiSolver solver;
+        private Oni.Contact[] prevData;
+        private int prevCount;
+        private ContactComparer comparer;
+
+        private class ContactComparer : IComparer<Oni.Contact>
+        {
+            ObiSolver solver;
+
+            public ContactComparer(ObiSolver solver)
+            {
+                this.solver = solver;
+            }
+
+            public int Compare(Oni.Contact x, Oni.Contact y)
+            {
+                return CompareByRef(ref x, ref y, solver);
+            }
+        }
+
+        private static int CompareByRef(ref Oni.Contact a, ref Oni.Contact b, ObiSolver solver)
+        {
+            if (a.bodyB == b.bodyB)
+            {
+                int hashA = solver.particleToActor[a.bodyA].actor.GetInstanceID();
+                int hashB = solver.particleToActor[b.bodyA].actor.GetInstanceID();
+                return hashA.CompareTo(hashB);
+            }
+            return a.bodyB.CompareTo(b.bodyB);
+        }
+
+        [System.Serializable]
+        public class ContactCallback : UnityEvent<ObiSolver, Oni.Contact> { }
+
+        public float distanceThreshold = 0.01f;
+        public ContactCallback onContactEnter = new ContactCallback();
+        public ContactCallback onContactStay = new ContactCallback();
+        public ContactCallback onContactExit = new ContactCallback();
+
+        void Awake()
+        {
+            solver = GetComponent<ObiSolver>();
+            comparer = new ContactComparer(solver);
+            prevData = new Oni.Contact[0];
+        }
+
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
+
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
+
+        private int FilterOutDistantContacts(Oni.Contact[] data, int count)
+        {
+            int filteredCount = count;
+
+            // simply iterate trough all contacts,
+            // moving the ones above the threshold to the end of the array:
+            for (int i = count - 1; i >= 0; --i)
+                if (data[i].distance > distanceThreshold)
+                    ObiUtils.Swap(ref data[i], ref data[--filteredCount]);
+
+            return filteredCount;
+        }
+
+        private int RemoveDuplicates(Oni.Contact[] data, int count)
+        {
+            if (count == 0)
+                return 0;
+
+            // assuming the array is sorted, iterate trough the array
+            // replacing duplicates by the first contact that's different:
+            int i = 0, r = 0;
+            while (++i != count)
+                if (CompareByRef(ref data[i], ref data[r], solver) != 0 && ++r != i)
+                    data[r] = data[i];
+
+            return ++r;
+        }
+
+        private void InvokeCallbacks(Oni.Contact[] data, int count)
+        {
+            int a = 0, b = 0;
+            int lengthA = count, lengthB = prevCount;
+
+            // while we haven't reached the end of either array:
+            while (a < lengthA && b < lengthB)
+            {
+                // compare both contacts: 
+                int compare = CompareByRef(ref data[a], ref prevData[b], solver);
+
+                // call the appropiate event depending on the comparison result:
+                if (compare < 0)
+                    onContactEnter.Invoke(solver, data[a++]);
+                else if (compare > 0)
+                    onContactExit.Invoke(solver, prevData[b++]);
+                else
+                {
+                    onContactStay.Invoke(solver, data[a++]); b++;
+                }
+            }
+
+            // finish iterating trough both lists:
+            while (a < lengthA)
+                onContactEnter.Invoke(solver, data[a++]);
+
+            while (b < lengthB)
+                onContactExit.Invoke(solver, prevData[b++]);
+        }
+
+        void Solver_OnCollision(object sender, ObiNativeContactList contacts)
+        {
+            // here we access the internal backing array (Data) directly,
+            // instead of using the accessor property. This slightly improves performance.
+            // note: the backing array length is the lists' capacity, so we
+            // need to use args.contacts.Count to get the actual number of contacts.
+
+            // skip all contacts above the distance threshold by moving them to the end of the array:
+            /*int filteredCount = FilterOutDistantContacts(contacts, args.contacts.Count);
+
+            // sort the remaining contacts by collider, then by actor:
+            Array.Sort(args.contacts.Data, 0, filteredCount, comparer);
+
+            // remove duplicates:
+            filteredCount = RemoveDuplicates(args.contacts.Data, filteredCount);
+
+            // zip trough the current and previous contact lists once, invoking events when appropiate.
+            InvokeCallbacks(args.contacts.Data, filteredCount);
+
+            // store current contact list/count for next frame.
+            // could get better performance by double buffering instead of copying:
+            if (filteredCount > prevData.Length)
+                Array.Resize(ref prevData, filteredCount);
+            Array.Copy(args.contacts.Data, prevData, filteredCount);
+
+            prevCount = filteredCount;*/
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta
new file mode 100644
index 00000000..35dc302e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e94f08d8fe9ed4bdcbc71dde235e0ac1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
new file mode 100644
index 00000000..caadb3b8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
@@ -0,0 +1,178 @@
+using UnityEngine;
+using System.Collections.Generic;
+using Obi;
+
+/**
+ * Sample component that makes a collider "grab" any particle it touches (regardless of which Actor it belongs to).
+ */
+[RequireComponent(typeof(ObiCollider))]
+public class ObiContactGrabber : MonoBehaviour
+{
+
+    public ObiSolver[] solvers = { };
+
+    public bool grabbed
+    {
+        get { return grabbedActors.Count > 0; }
+    }
+
+    /**
+     * Helper class that stores the index of a particle in the solver, its position in the grabber's local space, and its inverse mass previous to being grabbed.
+     * This makes it easy to tell if a particle has been grabbed, update its position while grabbing, and restore its mass after being released.
+     */
+    private class GrabbedParticle : IEqualityComparer<GrabbedParticle>
+    {
+        public int index;
+        public float invMass;
+        public Vector3 localPosition;
+        public ObiSolver solver;
+
+        public GrabbedParticle(ObiSolver solver, int index, float invMass)
+        {
+            this.solver = solver;
+            this.index = index;
+            this.invMass = invMass;
+        }
+
+        public bool Equals(GrabbedParticle x, GrabbedParticle y)
+        {
+            return x.index == y.index;
+        }
+
+        public int GetHashCode(GrabbedParticle obj)
+        {
+            return index;
+        }
+    }
+
+    private Dictionary<ObiSolver, ObiNativeContactList> collisionEvents = new Dictionary<ObiSolver, ObiNativeContactList>();                                 /**< store the current collision event*/
+    private ObiCollider localCollider;                                                           /**< the collider on this gameObject.*/
+    private HashSet<GrabbedParticle> grabbedParticles = new HashSet<GrabbedParticle>();          /**< set to store all currently grabbed particles.*/
+    private HashSet<ObiActor> grabbedActors = new HashSet<ObiActor>();                           /**< set of softbodies grabbed during this step.*/
+
+    private void Awake()
+    {
+        localCollider = GetComponent<ObiCollider>();
+    }
+
+    private void OnEnable()
+    {
+        if (solvers != null)
+            foreach (ObiSolver solver in solvers)
+                solver.OnCollision += Solver_OnCollision;
+    }
+
+    private void OnDisable()
+    {
+        if (solvers != null)
+            foreach (ObiSolver solver in solvers)
+                solver.OnCollision -= Solver_OnCollision;
+    }
+
+    private void Solver_OnCollision(object sender, ObiNativeContactList e)
+    {
+        collisionEvents[(ObiSolver)sender] = e;
+    }
+
+    private void UpdateParticleProperties()
+    {
+        // Update rest shape matching of all grabbed softbodies:
+        foreach (ObiActor actor in grabbedActors)
+        {
+            actor.UpdateParticleProperties();
+        }
+    }
+
+    /**
+     * Creates and stores a GrabbedParticle from the particle at the given index.
+     * Returns true if we sucessfully grabbed a particle, false if the particle was already grabbed.
+     */
+    private bool GrabParticle(ObiSolver solver, int index)
+    {
+        GrabbedParticle p = new GrabbedParticle(solver, index, solver.invMasses[index]);
+
+        // in case this particle has not been grabbed yet:
+        if (!grabbedParticles.Contains(p))
+        {
+            Matrix4x4 solver2Grabber = transform.worldToLocalMatrix * solver.transform.localToWorldMatrix;
+
+            // record the particle's position relative to the grabber, and store it.
+            p.localPosition = solver2Grabber.MultiplyPoint3x4(solver.positions[index]);
+            grabbedParticles.Add(p);
+
+            // Set inv mass and velocity to zero:
+            solver.invMasses[index] = 0;
+            solver.velocities[index] = Vector4.zero;
+
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * Grabs all particles currently touching the grabber.
+     */
+    public void Grab()
+    {
+        Release();
+
+        var world = ObiColliderWorld.GetInstance();
+
+        if (solvers != null && collisionEvents != null)
+        {
+            foreach (ObiSolver solver in solvers)
+            {
+                ObiNativeContactList collisionEvent;
+                if (collisionEvents.TryGetValue(solver, out collisionEvent))
+                {
+                    foreach (Oni.Contact contact in collisionEvent)
+                    {
+                        // this one is an actual collision:
+                        if (contact.distance < 0.01f)
+                        {
+                            var contactCollider = world.colliderHandles[contact.bodyB].owner;
+                            int particleIndex = solver.simplices[contact.bodyA];
+
+                            // if the current contact references our collider, proceed to grab the particle.
+                            if (contactCollider == localCollider)
+                            {
+                                // try to grab the particle, if not already grabbed.
+                                if (GrabParticle(solver, particleIndex))
+                                    grabbedActors.Add(solver.particleToActor[particleIndex].actor);
+                            }
+
+                        }
+                    }
+                }
+            }
+        }
+
+        UpdateParticleProperties();
+    }
+
+    /**
+     * Releases all currently grabbed particles. This boils down to simply resetting their invMass.
+     */
+    public void Release()
+    {
+        // Restore the inverse mass of all grabbed particles, so dynamics affect them.
+        foreach (GrabbedParticle p in grabbedParticles)
+            p.solver.invMasses[p.index] = p.invMass;
+
+        UpdateParticleProperties();
+        grabbedActors.Clear();
+        grabbedParticles.Clear();
+    }
+
+    /**
+     * Updates the position of the grabbed particles.
+     */
+    private void FixedUpdate()
+    {
+        foreach (GrabbedParticle p in grabbedParticles)
+        {
+            Matrix4x4 grabber2Solver = p.solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
+            p.solver.positions[p.index] = grabber2Solver.MultiplyPoint3x4(p.localPosition);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta
new file mode 100644
index 00000000..d3efd975
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4aa46c433c6d64b07bdfa8b2e40b03b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs
new file mode 100644
index 00000000..86c33d8a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs
@@ -0,0 +1,98 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+	/**
+	 * Foam generators create diffuse particles in areas where certain conditions meet (high velocity constrasts, high vorticity, low density, high normal values, etc.). These particles
+	 * are then advected trough the fluid velocity field.
+	 */
+
+    [AddComponentMenu("Physics/Obi/Obi Foam Generator", 1000)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    [DisallowMultipleComponent]
+    public class ObiFoamGenerator : MonoBehaviour, ObiActorRenderer<ObiFoamGenerator>
+    {
+        public ObiActor actor { get; private set; }
+
+        [Header("Foam spawning")]
+        public float foamGenerationRate = 100;
+        public float foamPotential = 50;
+
+        [Range(0,1)]
+        public float foamPotentialDiffusion = 0.95f;
+        public Vector2 velocityRange = new Vector2(2, 4);
+        public Vector2 vorticityRange = new Vector2(4, 8);
+
+        [Header("Foam properties")]
+        public Color color = new Color(1,1,1,0.25f);
+        public float size = 0.02f;
+        [Range(0,1)]
+        public float sizeRandom = 0.2f;
+        public float lifetime = 5;
+        [Range(0, 1)]
+        public float lifetimeRandom = 0.2f;
+
+        public float buoyancy = 0.5f;
+
+        [Range(0, 1)]
+        public float drag = 0.5f;
+
+        [Range(0, 1)]
+        public float atmosphericDrag = 0.5f;
+
+        [Range(1, 50)]
+        public float airAging = 2;
+
+        [Range(0, 1)]
+        public float isosurface = 0.02f;
+
+        [Header("Density Control (Compute only)")]
+        [Range(0, 1)]
+        public float pressure = 1;
+        [Range(0, 1)]
+        public float density = 0.3f;
+        [Range(1, 4)]
+        public float smoothingRadius = 2.5f;
+        [Min(0)]
+        public float surfaceTension = 2;
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).SetRendererDirty(Oni.RenderingSystemType.FoamParticles);
+        }
+
+        RenderSystem<ObiFoamGenerator> ObiRenderer<ObiFoamGenerator>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstFoamRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeFoamRenderSystem(solver);
+                    return null;
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta
new file mode 100644
index 00000000..a26a9e65
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 87b741a43af4845478fd8eff354a1510
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: b7cec6e680e3a479ca03a89eccd4e052, type: 3}
+  userData: 
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs
new file mode 100644
index 00000000..8c0f5013
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs
@@ -0,0 +1,50 @@
+using UnityEngine;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+    public static class ObiIntegration
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 IntegrateLinear(Vector4 position, Vector4 velocity, float dt)
+        {
+            return position + velocity * dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 DifferentiateLinear(Vector4 position, Vector4 prevPosition, float dt)
+        {
+            return (position - prevPosition) / dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Quaternion AngularVelocityToSpinQuaternion(Quaternion rotation, Vector4 angularVelocity, float dt)
+        {
+            var delta = new Quaternion(angularVelocity.x,
+                                       angularVelocity.y,
+                                       angularVelocity.z, 0);
+
+            var rot = delta * rotation;
+            var v = new Vector4(rot.x, rot.y, rot.z, rot.w) * 0.5f * dt;
+            return new Quaternion(v.x, v.y, v.z, v.w);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Quaternion IntegrateAngular(Quaternion rotation, Vector4 angularVelocity, float dt)
+        {
+            var spin = AngularVelocityToSpinQuaternion(rotation, angularVelocity, dt);
+            rotation.x += spin.x;
+            rotation.y += spin.y;
+            rotation.z += spin.z;
+            rotation.w += spin.w;
+            return rotation.normalized; 
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 DifferentiateAngular(Quaternion rotation, Quaternion prevRotation, float dt)
+        {
+            var delta = rotation * Quaternion.Inverse(prevRotation);
+            return new Vector4(delta.x, delta.y, delta.z, 0) * 2.0f / dt;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta
new file mode 100644
index 00000000..819d6050
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dbcd2b1cce6ff448ebca664dd6c55e2d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
new file mode 100644
index 00000000..8f4022c8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
@@ -0,0 +1,64 @@
+using System;
using UnityEngine;

namespace Obi
{
    [AddComponentMenu("Physics/Obi/Obi Particle Attachment", 820)]
    [RequireComponent(typeof(ObiActor))]
    [ExecuteInEditMode]
    public class ObiParticleAttachment : MonoBehaviour
    {
        public enum AttachmentType
        {
            Static,
            Dynamic
        }

        [SerializeField] [HideInInspector] private ObiActor m_Actor;
        [SerializeField] [HideInInspector] private Transform m_Target;

        [SerializeField] [HideInInspector] private ObiParticleGroup m_ParticleGroup;
        [SerializeField] [HideInInspector] private AttachmentType m_AttachmentType = AttachmentType.Static;
        [SerializeField] [HideInInspector] private bool m_ConstrainOrientation = false;
        [SerializeField] [HideInInspector] private float m_Compliance = 0;
        [SerializeField] [HideInInspector] [Delayed] private float m_BreakThreshold = float.PositiveInfinity;
+
+        // private variables are serialized during script reloading, to keep their value. Must mark them explicitly as non-serialized.
+        [NonSerialized] private ObiPinConstraintsBatch pinBatch;
        [NonSerialized] private ObiColliderBase attachedCollider;
        [NonSerialized] private int attachedColliderHandleIndex;

        [NonSerialized] private int[] m_SolverIndices;
        [NonSerialized] private Vector3[] m_PositionOffsets = null;
        [NonSerialized] private Quaternion[] m_OrientationOffsets = null;
+
+
+        /// <summary>  
        /// The actor this attachment is added to.
        /// </summary> 
        public ObiActor actor
        {
            get { return m_Actor; }
        }
+
+        /// <summary>  
        /// The target transform that the <see cref="particleGroup"/> should be attached to.
        /// </summary> 
        public Transform target
        {
            get { return m_Target; }
            set
            {
                if (value != m_Target)
                {
                    m_Target = value;
                    Bind();
                }
            }
        }
+
+        /// <summary>  
        /// The particle group that should be attached to the <see cref="target"/>.
        /// </summary> 
        public ObiParticleGroup particleGroup
        {
            get
            {
                return m_ParticleGroup;
            }

            set
            {
                if (value != m_ParticleGroup)
                {
                    m_ParticleGroup = value;
                    Bind();
                }
            }
        }
+
+        /// <summary>  
        /// Whether this attachment is currently bound or not.
        /// </summary> 
        public bool isBound
        {
            get { return m_Target != null && m_SolverIndices != null && m_PositionOffsets != null; }
        }
+
+        /// <summary>  
        /// Type of attachment, can be either static or dynamic.
        /// </summary> 
        public AttachmentType attachmentType
        {
            get { return m_AttachmentType; }
            set
            {
                if (value != m_AttachmentType)
                {
                    DisableAttachment(m_AttachmentType);
                    m_AttachmentType = value;
                    EnableAttachment(m_AttachmentType);
                }
            }
        }
+
+        /// <summary>  
        /// Should this attachment constraint particle orientations too?
        /// </summary>
        public bool constrainOrientation
        {
            get { return m_ConstrainOrientation; }
            set
            {
                if (value != m_ConstrainOrientation)
                {
                    DisableAttachment(m_AttachmentType);
                    m_ConstrainOrientation = value;
                    EnableAttachment(m_AttachmentType);
                }
            }
        }
+
+        /// <summary>  
        /// Constraint compliance, in case this attachment is dynamic.
        /// </summary>
        /// High compliance values will increase the attachment's elasticity.
        public float compliance
        {
            get { return m_Compliance; }
            set
            {
                if (!Mathf.Approximately(value, m_Compliance))
                {
                    m_Compliance = value;
                    if (m_AttachmentType == AttachmentType.Dynamic && pinBatch != null)
                    {
                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                            pinBatch.stiffnesses[i * 2] = m_Compliance;
                    }
                }
            }
        }
+
+        /// <summary>  
        /// Force thershold above which the attachment should break.
        /// </summary>
        /// Only affects dynamic attachments, as static attachments do not work with forces.
        public float breakThreshold
        {
            get { return m_BreakThreshold; }
            set
            {
                if (!Mathf.Approximately(value, m_BreakThreshold))
                {
                    m_BreakThreshold = value;
                    if (m_AttachmentType == AttachmentType.Dynamic && pinBatch != null)
                    {
                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                            pinBatch.breakThresholds[i] = m_BreakThreshold;
                    }
                }
            }
        }

        private void OnEnable()
        {
            m_Actor = GetComponent<ObiActor>();
            m_Actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
            m_Actor.OnSimulationStart += Actor_OnSimulate;

            if (m_Actor.solver != null)
                Actor_OnBlueprintLoaded(m_Actor, m_Actor.sourceBlueprint);

            EnableAttachment(m_AttachmentType);
        }

        private void OnDisable()
        {
            DisableAttachment(m_AttachmentType);

            m_Actor.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
            m_Actor.OnSimulationStart -= Actor_OnSimulate;
        }

        private void OnValidate()
        {
            m_Actor = GetComponent<ObiActor>();
+
+            // do not re-bind: simply disable and re-enable the attachment.
+            DisableAttachment(AttachmentType.Static);
            DisableAttachment(AttachmentType.Dynamic);
            EnableAttachment(m_AttachmentType);
        }

        void Actor_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
        {
            Bind();
        }

        void Actor_OnSimulate(ObiActor act, float stepTime, float substepTime)
        {
+            // Attachments must be updated at the start of the step, before performing any simulation.
+            UpdateAttachment();
+
+            // if there's any broken constraint, flag pin constraints as dirty for remerging at the start of the next step.
+            BreakDynamicAttachment(substepTime);
        }

        private void Bind()
        {
+            // Disable attachment.
+            DisableAttachment(m_AttachmentType);

            if (m_Target != null && m_ParticleGroup != null && m_Actor.isLoaded)
            {
                Matrix4x4 bindMatrix = m_Target.worldToLocalMatrix * m_Actor.solver.transform.localToWorldMatrix;

                m_SolverIndices = new int[m_ParticleGroup.Count];
                m_PositionOffsets = new Vector3[m_ParticleGroup.Count];
                m_OrientationOffsets = new Quaternion[m_ParticleGroup.Count];

                for (int i = 0; i < m_ParticleGroup.Count; ++i)
                {
                    int particleIndex = m_ParticleGroup.particleIndices[i];
                    if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.count)
                    {
                        m_SolverIndices[i] = m_Actor.solverIndices[particleIndex];
                        m_PositionOffsets[i] = bindMatrix.MultiplyPoint3x4(m_Actor.solver.positions[m_SolverIndices[i]]);
                    }
                    else
                    {
                        Debug.LogError("The particle group \'" + m_ParticleGroup.name + "\' references a particle that does not exist in the actor \'" + m_Actor.name + "\'.");
                        m_SolverIndices = null;
                        m_PositionOffsets = null;
                        m_OrientationOffsets = null;
                        return;
                    }
                }

                if (m_Actor.usesOrientedParticles)
                {
                    Quaternion bindOrientation = bindMatrix.rotation;

                    for (int i = 0; i < m_ParticleGroup.Count; ++i)
                    {
                        int particleIndex = m_ParticleGroup.particleIndices[i];
                        if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.count)
                            m_OrientationOffsets[i] = bindOrientation * m_Actor.solver.orientations[m_SolverIndices[i]];
                    }
                }
            }
            else
            {
                m_PositionOffsets = null;
                m_OrientationOffsets = null;
            }

            EnableAttachment(m_AttachmentType);
        }


        private void EnableAttachment(AttachmentType type)
        {

            if (enabled && m_Actor.isLoaded && isBound)
            {
                var solver = m_Actor.solver;

                switch (type)
                {
                    case AttachmentType.Dynamic:

                        var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiPinConstraintsData;
                        attachedCollider = m_Target.GetComponent<ObiColliderBase>();

                        if (pins != null && attachedCollider != null && pinBatch == null)
                        {
+                            // create a new data batch with all our pin constraints:
+                            pinBatch = new ObiPinConstraintsBatch(pins);
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                pinBatch.AddConstraint(m_SolverIndices[i],
                                                       attachedCollider,
                                                       m_PositionOffsets[i],
                                                       m_OrientationOffsets[i],
                                                       m_Compliance,
                                                       constrainOrientation ? 0 : 10000,
                                                       m_BreakThreshold);

                                pinBatch.activeConstraintCount++;
                            }
+
+                            // add the batch to the actor:
+                            pins.AddBatch(pinBatch);
+
+                            // store the attached collider's handle:
+                            attachedColliderHandleIndex = -1;
                            if (attachedCollider.Handle != null)
                                attachedColliderHandleIndex = attachedCollider.Handle.index;

                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                        }

                        break;

                    case AttachmentType.Static:

                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                            if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invMasses.count)
                                solver.invMasses[m_SolverIndices[i]] = 0;

                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
                        {
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                                if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invRotationalMasses.count)
                                    solver.invRotationalMasses[m_SolverIndices[i]] = 0;
                        }

                        m_Actor.UpdateParticleProperties();

                        break;

                }
            }

        }

        private void DisableAttachment(AttachmentType type)
        {
            if (isBound)
            {
                switch (type)
                {
                    case AttachmentType.Dynamic:

                        if (pinBatch != null)
                        {
                            var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
                            if (pins != null)
                            {
                                pins.RemoveBatch(pinBatch);
                                if (actor.isLoaded)
                                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                            }

                            attachedCollider = null;
                            pinBatch = null;
                            attachedColliderHandleIndex = -1;
                        }

                        break;

                    case AttachmentType.Static:

                        var solver = m_Actor.solver;
                        var blueprint = m_Actor.sourceBlueprint;

                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                        {
                            int solverIndex = m_SolverIndices[i];
                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
                                solver.invMasses[solverIndex] = blueprint.invMasses[i];
                        }

                        if (m_Actor.usesOrientedParticles)
                        {
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                int solverIndex = m_SolverIndices[i];
                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
                                    solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
                            }
                        }

                        m_Actor.UpdateParticleProperties();

                        break;

                }
            }
        }

        private void UpdateAttachment()
        {

            if (enabled && m_Actor.isLoaded && isBound)
            {
                var solver = m_Actor.solver;

                switch (m_AttachmentType)
                {
                    case AttachmentType.Dynamic:
+
+                        // in case the handle has been updated/invalidated (for instance, when disabling the target) rebuild constraints:
+                        if (attachedCollider != null &&
+                            attachedCollider.Handle != null &&
+                            attachedCollider.Handle.index != attachedColliderHandleIndex)
                        {
                            attachedColliderHandleIndex = attachedCollider.Handle.index;
                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                        }

                        break;

                    case AttachmentType.Static:

                        var blueprint = m_Actor.sourceBlueprint;
                        bool targetActive = m_Target.gameObject.activeInHierarchy;
+
+                        // Build the attachment matrix:
+                        Matrix4x4 attachmentMatrix = solver.transform.worldToLocalMatrix * m_Target.localToWorldMatrix;
+
+                        // Fix all particles in the group and update their position 
+                        // Note: skip assignment to startPositions if you want attached particles to be interpolated too.
+                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                        {
                            int solverIndex = m_SolverIndices[i];

                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
                            {
                                if (targetActive)
                                {
                                    solver.invMasses[solverIndex] = 0;
                                    solver.velocities[solverIndex] = Vector3.zero;
                                    solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = attachmentMatrix.MultiplyPoint3x4(m_PositionOffsets[i]);
                                }
+                                else
                                    solver.invMasses[solverIndex] = blueprint.invMasses[i];
                            }
                        }

                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
                        {
                            Quaternion attachmentRotation = attachmentMatrix.rotation;

                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                int solverIndex = m_SolverIndices[i];

                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
                                {
                                    if (targetActive)
                                    {
                                        solver.invRotationalMasses[solverIndex] = 0;
                                        solver.angularVelocities[solverIndex] = Vector3.zero;
                                        solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = attachmentRotation * m_OrientationOffsets[i];
                                    }
                                    else
                                        solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
                                }
                            }
                        }
                        break;
                }
            }
            else if (!isBound && attachedColliderHandleIndex >= 0)
+            {
+                attachedColliderHandleIndex = -1;
+                m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
+            }
        }

        private void BreakDynamicAttachment(float substepTime)
        {

            if (enabled && m_AttachmentType == AttachmentType.Dynamic && m_Actor.isLoaded && isBound)
            {

                var solver = m_Actor.solver;

                var actorConstraints = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;

                bool dirty = false;
                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
                {
                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
                    if (pinBatchIndex >= 0 && pinBatchIndex < actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin].Count)
                    {
                        int offset = actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin][pinBatchIndex];
                        var solverBatch = solverConstraints.batches[pinBatchIndex];

                        float sqrTime = substepTime * substepTime;
                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
                        {
+                            // In case the handle has been created/destroyed.
+                            if (pinBatch.pinBodies[i] != attachedCollider.Handle)
                            {
                                pinBatch.pinBodies[i] = attachedCollider.Handle;
                                dirty = true;
                            }
+
+                            // in case the constraint has been broken:
+                            if (-solverBatch.lambdas[(offset + i) * 4 + 3] / sqrTime > pinBatch.breakThresholds[i])
                            {
                                pinBatch.DeactivateConstraint(i);
                                dirty = true;
                            }
                        }
                    }
                }
+
+                // constraints are recreated at the start of a step.
+                if (dirty)
                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
            }
        }
    }
}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta
new file mode 100644
index 00000000..8ba6d24e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4d03c9194b7ab4aaba4dfa5afec22c69
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 528d201bc10084452b24974deb16a423, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
new file mode 100644
index 00000000..56449059
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
@@ -0,0 +1,84 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(LineRenderer))]
+    [RequireComponent(typeof(ObiParticlePicker))]
+    public class ObiParticleDragger : MonoBehaviour
+    {
+        public float springStiffness = 500;
+        public float springDamping = 50;
+        public bool drawSpring = true;
+
+        private LineRenderer lineRenderer;
+        private ObiParticlePicker picker;
+        private ObiParticlePicker.ParticlePickEventArgs pickArgs;
+
+        void OnEnable()
+        {
+            lineRenderer = GetComponent<LineRenderer>();
+            picker = GetComponent<ObiParticlePicker>();
+            picker.OnParticlePicked.AddListener(Picker_OnParticleDragged);
+            picker.OnParticleDragged.AddListener(Picker_OnParticleDragged);
+            picker.OnParticleReleased.AddListener(Picker_OnParticleReleased);
+
+            picker.solver.OnSimulationStart += Solver_OnEndSimulation;
+        }
+
+        void OnDisable()
+        {
+            picker.solver.OnSimulationStart -= Solver_OnEndSimulation;
+
+            picker.OnParticlePicked.RemoveListener(Picker_OnParticleDragged);
+            picker.OnParticleDragged.RemoveListener(Picker_OnParticleDragged);
+            picker.OnParticleReleased.RemoveListener(Picker_OnParticleReleased);
+            lineRenderer.positionCount = 0;
+        }
+
+        private void Solver_OnEndSimulation(ObiSolver solver, float timeToSimulate, float substepTime)
+        {
+            if (solver != null && pickArgs != null)
+            {
+                // Calculate picking position in solver space:
+                Vector4 targetPosition = solver.transform.InverseTransformPoint(pickArgs.worldPosition);
+
+                // Calculate effective inverse mass:
+                float invMass = solver.invMasses[pickArgs.particleIndex];
+
+                if (invMass > 0)
+                {
+                    // Calculate and apply spring force:
+                    Vector4 position = solver.positions[pickArgs.particleIndex];
+                    Vector4 velocity = solver.velocities[pickArgs.particleIndex];
+                    solver.externalForces[pickArgs.particleIndex] = ((targetPosition - position) * springStiffness - velocity * springDamping) / invMass;
+
+                    if (drawSpring)
+                    {
+                        lineRenderer.positionCount = 2;
+                        lineRenderer.SetPosition(0, pickArgs.worldPosition);
+                        lineRenderer.SetPosition(1, solver.transform.TransformPoint(position));
+                    }
+                    else
+                    {
+                        lineRenderer.positionCount = 0;
+                    }
+                }
+
+            }
+        }
+
+        void Picker_OnParticleDragged(ObiParticlePicker.ParticlePickEventArgs e)
+        {
+            pickArgs = e;
+        }
+
+        void Picker_OnParticleReleased(ObiParticlePicker.ParticlePickEventArgs e)
+        {
+            pickArgs = null;
+            lineRenderer.positionCount = 0;
+        }
+
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta
new file mode 100644
index 00000000..a950385e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 30e140e2334fb4e2f9430c6ed936e4ca
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
new file mode 100644
index 00000000..8c2d7fdb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
@@ -0,0 +1,140 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+namespace Obi
+{
+
+    public class ObiParticlePicker : MonoBehaviour
+    {
+
+        public class ParticlePickEventArgs : EventArgs
+        {
+
+            public int particleIndex;
+            public Vector3 worldPosition;
+
+            public ParticlePickEventArgs(int particleIndex, Vector3 worldPosition)
+            {
+                this.particleIndex = particleIndex;
+                this.worldPosition = worldPosition;
+            }
+        }
+
+        [Serializable]
+        public class ParticlePickUnityEvent : UnityEvent<ParticlePickEventArgs> { }
+
+        public ObiSolver solver;
+        public float radiusScale = 1;
+
+        public ParticlePickUnityEvent OnParticlePicked;
+        public ParticlePickUnityEvent OnParticleHeld;
+        public ParticlePickUnityEvent OnParticleDragged;
+        public ParticlePickUnityEvent OnParticleReleased;
+
+        private Vector3 lastMousePos = Vector3.zero;
+        private int pickedParticleIndex = -1;
+        private float pickedParticleDepth = 0;
+
+        void Awake()
+        {
+            lastMousePos = Input.mousePosition;
+        }
+
+        void LateUpdate()
+        {
+
+            if (solver != null)
+            {
+
+                // Click:
+                if (Input.GetMouseButtonDown(0))
+                {
+
+                    pickedParticleIndex = -1;
+
+                    Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+
+                    float closestMu = float.MaxValue;
+                    float closestDistance = float.MaxValue;
+
+                    Matrix4x4 solver2World = solver.transform.localToWorldMatrix;
+
+                    // Find the closest particle hit by the ray:
+                    for (int i = 0; i < solver.positions.count; ++i)
+                    {
+
+                        Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.positions[i]);
+
+                        float mu;
+                        Vector3 projected = ObiUtils.ProjectPointLine(ray.origin, ray.origin + ray.direction, worldPos, out mu, false);
+                        float distanceToRay = Vector3.SqrMagnitude(worldPos - projected);
+
+                        // Disregard particles behind the camera:
+                        mu = Mathf.Max(0, mu);
+
+                        float radius = solver.principalRadii[i][0] * radiusScale;
+
+                        if (distanceToRay <= radius * radius && distanceToRay < closestDistance && mu < closestMu)
+                        {
+                            closestMu = mu;
+                            closestDistance = distanceToRay;
+                            pickedParticleIndex = i;
+                        }
+                    }
+
+                    if (pickedParticleIndex >= 0)
+                    {
+
+                        pickedParticleDepth = Camera.main.transform.InverseTransformVector(solver2World.MultiplyPoint3x4(solver.positions[pickedParticleIndex]) - Camera.main.transform.position).z;
+
+                        if (OnParticlePicked != null)
+                        {
+                            Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                            OnParticlePicked.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+                        }
+                    }
+
+                }
+                else if (pickedParticleIndex >= 0)
+                {
+
+                    // Drag:
+                    Vector3 mouseDelta = Input.mousePosition - lastMousePos;
+                    if (mouseDelta.magnitude > 0.01f && OnParticleDragged != null)
+                    {
+
+                        Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                        OnParticleDragged.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+
+                    }
+                    else if (OnParticleHeld != null)
+                    {
+
+                        Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                        OnParticleHeld.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+
+                    }
+
+                    // Release:				
+                    if (Input.GetMouseButtonUp(0))
+                    {
+
+                        if (OnParticleReleased != null)
+                        {
+                            Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                            OnParticleReleased.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+                        }
+
+                        pickedParticleIndex = -1;
+
+                    }
+                }
+            }
+
+            lastMousePos = Input.mousePosition;
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta
new file mode 100644
index 00000000..286f8912
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: db4318b9b044a420ba02ad5138d542e0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 0f9d020f7c659443a93327a34ede18b4, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
new file mode 100644
index 00000000..80547b9a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
@@ -0,0 +1,232 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    /**
+     * ObiStitcher will create stitch constraints between 2 actors. All actors must be assigned to the same solver.
+     * - Add the constraint batch to the solver once all actors have been added.
+     * - If any of the actors is removed from the solver, remove the stitcher too.
+     * - Stitch constraints can keep n particles together, respecting their masses.
+     * - In edit mode, select the actors to be stitched and then select groups of particles and click "stitch". Or, create stitches by closeness.
+     */
+    [ExecuteInEditMode]
+    public class ObiStitcher : MonoBehaviour
+    {
+        [Serializable]
+        public class Stitch
+        {
+            public int particleIndex1;
+            public int particleIndex2;
+
+            public Stitch(int particleIndex1, int particleIndex2)
+            {
+                this.particleIndex1 = particleIndex1;
+                this.particleIndex2 = particleIndex2;
+            }
+        }
+
+        [SerializeField] [HideInInspector] private List<Stitch> stitches = new List<Stitch>();
+
+        [SerializeField] [HideInInspector] private ObiActor actor1 = null;          /**< one of the actors used by the stitcher.*/
+        [SerializeField] [HideInInspector] private ObiActor actor2 = null;           /**< the second actor used by the stitcher.*/
+
+        [HideInInspector] public ObiNativeIntList particleIndices = new ObiNativeIntList();
+        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
+        [HideInInspector] public ObiNativeFloatList lambdas = new ObiNativeFloatList();
+
+        //private IntPtr batch;
+        private IStitchConstraintsBatchImpl m_BatchImpl;
+        private bool inSolver = false;
+
+        public ObiActor Actor1
+        {
+            set
+            {
+                if (actor1 != value)
+                {
+                    UnregisterActor(actor1);
+                    actor1 = value;
+                    RegisterActor(actor1);
+                }
+            }
+            get { return actor1; }
+        }
+
+        public ObiActor Actor2
+        {
+            set
+            {
+                if (actor2 != value)
+                {
+                    UnregisterActor(actor2);
+                    actor2 = value;
+                    RegisterActor(actor2);
+                }
+            }
+            get { return actor2; }
+        }
+
+        public int StitchCount
+        {
+            get { return stitches.Count; }
+        }
+
+        public IEnumerable<Stitch> Stitches
+        {
+            get { return stitches.AsReadOnly(); }
+        }
+
+        private void RegisterActor(ObiActor actor)
+        {
+            if (actor != null)
+            {
+                actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
+                actor.OnBlueprintUnloaded += Actor_OnBlueprintUnloaded;
+
+                if (actor.solver != null)
+                    Actor_OnBlueprintLoaded(actor, actor.sourceBlueprint);
+
+            }
+        }
+
+        private void UnregisterActor(ObiActor actor)
+        {
+            if (actor != null)
+            {
+                actor.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
+                actor.OnBlueprintUnloaded -= Actor_OnBlueprintUnloaded;
+
+                if (actor.solver != null)
+                    Actor_OnBlueprintUnloaded(actor, actor.sourceBlueprint);
+            }
+        }
+
+        public void OnEnable()
+        {
+            RegisterActor(actor1);
+            RegisterActor(actor2);
+        }
+
+        public void OnDisable()
+        {
+            UnregisterActor(actor1);
+            UnregisterActor(actor2);
+        }
+
+        /**
+         * Adds a new stitch to the stitcher. Note that unlike calling Clear(), AddStitch does not automatically perform a
+         * PushDataToSolver(). You should manually call it once you're done adding multiple stitches.
+         * @param index of a particle in the first actor. 
+         * @param index of a particle in the second actor.
+         * @return constrant index, that can be used to remove it with a call to RemoveStitch.
+         */
+        public int AddStitch(int particle1, int particle2)
+        {
+            stitches.Add(new Stitch(particle1, particle2));
+            return stitches.Count - 1;
+        }
+
+        /**
+         * Removes. Note that unlike calling Clear(), AddStitch does not automatically perform a
+         * PushDataToSolver(). You should manually call it once you're done adding multiple stitches.
+         * @param constraint index.
+         */
+        public void RemoveStitch(int index)
+        {
+            if (index >= 0 && index < stitches.Count)
+                stitches.RemoveAt(index);
+        }
+
+        public void Clear()
+        {
+            stitches.Clear();
+            PushDataToSolver();
+        }
+
+        void Actor_OnBlueprintUnloaded(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            // when any actor is removed from solver, remove stitches.
+            this.RemoveFromSolver(actor.solver);
+        }
+
+        void Actor_OnBlueprintLoaded(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            // when both actors are in the same solver, add stitches.
+            if (actor1 != null && actor2 != null && actor1.isLoaded && actor2.isLoaded)
+            {
+
+                if (actor1.solver != actor2.solver)
+                {
+                    Debug.LogError("ObiStitcher cannot handle actors in different solvers.");
+                    return;
+                }
+
+                AddToSolver(actor1.solver);
+            }
+        }
+
+        private void AddToSolver(ObiSolver solver)
+        {
+            if (!inSolver)
+            {
+
+                inSolver = true;
+
+                // create a constraint batch (CreateStitchConstraints() in burst returns a singleton):
+                m_BatchImpl = solver.implementation.CreateConstraintsBatch(Oni.ConstraintType.Stitch) as IStitchConstraintsBatchImpl;
+
+                // push current data to solver:
+                PushDataToSolver();
+
+                // enable/disable the batch:
+                m_BatchImpl.enabled = isActiveAndEnabled;
+            }
+
+        }
+
+        private void RemoveFromSolver(ObiSolver solver)
+        {
+            // remove the constraint batch from the solver 
+            // (no need to destroy it as its destruction is managed by the solver)
+            // Oni.RemoveBatch(actor1.solver.OniSolver, batch);
+            if (inSolver && m_BatchImpl != null)
+            {
+                solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IStitchConstraintsBatchImpl);
+                m_BatchImpl.Destroy();
+                m_BatchImpl = null;
+
+                inSolver = false;
+            }
+
+        }
+
+        public void PushDataToSolver()
+        {
+
+            if (!inSolver)
+                return;
+
+            // set solver constraint data:
+            lambdas.Clear();
+            particleIndices.ResizeUninitialized(stitches.Count * 2);
+            stiffnesses.ResizeUninitialized(stitches.Count);
+            lambdas.ResizeUninitialized(stitches.Count);
+
+            for (int i = 0; i < stitches.Count; i++)
+            {
+                particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1];
+                particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2];
+                stiffnesses[i] = 0;
+                lambdas[i] = 0;
+            }
+
+            m_BatchImpl.SetStitchConstraints(particleIndices, stiffnesses, lambdas, stitches.Count);
+
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta
new file mode 100644
index 00000000..64a1aa9c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: cdace116829344344988718be4fb70ab
+timeCreated: 1489589304
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: ec05a2c75bb4a4ce5a3a1baa76b4c8d5, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
new file mode 100644
index 00000000..57c47405
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
@@ -0,0 +1,83 @@
+using UnityEngine;
using System;
using System.Collections.Generic;
using System.Runtime.CompilerServices;
using System.IO;

namespace Obi
{

    public static class Constants
    {
        public const int maxVertsPerMesh = 65000;
        public const int maxInstancesPerBatch = 1023;
    }

    public static class ObiUtils
    {

        public const float epsilon = 0.0000001f;
        public const float sqrt3 = 1.73205080f;
        public const float sqrt2 = 1.41421356f; 

        public const int FilterMaskBitmask = unchecked((int)0xffff0000);
        public const int FilterCategoryBitmask = 0x0000ffff;
        public const int ParticleGroupBitmask = 0x00ffffff;

        public const int CollideWithEverything = 0x0000ffff;
        public const int CollideWithNothing= 0x0;

        public const int MaxCategory = 15;
        public const int MinCategory = 0;

        [Flags]
        public enum ParticleFlags
        {
            SelfCollide = 1 << 24,
            Fluid = 1 << 25,
            OneSided = 1 << 26
        }

        // Colour alphabet from https://www.aic-color.org/resources/Documents/jaic_v5_06.pdf
        public static readonly Color32[] colorAlphabet =
        {
            new Color32(240,163,255,255), 
            new Color32(0,117,220,255),
            new Color32(153,63,0,255),
            new Color32(76,0,92,255),
            new Color32(25,25,25,255),
            new Color32(0,92,49,255),
            new Color32(43,206,72,255),
            new Color32(255,204,153,255),
            new Color32(128,128,128,255),
            new Color32(148,255,181,255),
            new Color32(143,124,0,255),
            new Color32(157,204,0,255),
            new Color32(194,0,136,255),
            new Color32(0,51,128,255),
            new Color32(255,164,5,255),
            new Color32(255,168,187,255),
            new Color32(66,102,0,255),
            new Color32(255,0,16,255),
            new Color32(94,241,242,255),
            new Color32(0,153,143,255),
            new Color32(224,255,102,255),
            new Color32(116,10,255,255),
            new Color32(153,0,0,255),
            new Color32(255,255,128,255),  
            new Color32(255,255,0,255),
            new Color32(255,80,5,255)
        };

        public static readonly string[] categoryNames = 
        {
            "0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15"
        };

        public static void DrawArrowGizmo(float bodyLenght, float bodyWidth, float headLenght, float headWidth)
        {

            float halfBodyLenght = bodyLenght * 0.5f;
            float halfBodyWidth = bodyWidth * 0.5f;

            // arrow body:
            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(-halfBodyWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, -halfBodyLenght));

            // arrow head:
            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, halfBodyLenght), new Vector3(headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, halfBodyLenght), new Vector3(-headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(-headWidth, 0, halfBodyLenght));
        }
+
+        public static void DebugDrawBox(Vector3 pos, Quaternion rot, Vector3 scale, Color c)
+        {
+            // create matrix
+            Matrix4x4 m = new Matrix4x4();
+            m.SetTRS(pos, rot, scale);
+
+            var point1 = m.MultiplyPoint(new Vector3(-0.5f, -0.5f, 0.5f));
+            var point2 = m.MultiplyPoint(new Vector3(0.5f, -0.5f, 0.5f));
+            var point3 = m.MultiplyPoint(new Vector3(0.5f, -0.5f, -0.5f));
+            var point4 = m.MultiplyPoint(new Vector3(-0.5f, -0.5f, -0.5f));
+
+            var point5 = m.MultiplyPoint(new Vector3(-0.5f, 0.5f, 0.5f));
+            var point6 = m.MultiplyPoint(new Vector3(0.5f, 0.5f, 0.5f));
+            var point7 = m.MultiplyPoint(new Vector3(0.5f, 0.5f, -0.5f));
+            var point8 = m.MultiplyPoint(new Vector3(-0.5f, 0.5f, -0.5f));
+
+            Debug.DrawLine(point1, point2, c);
+            Debug.DrawLine(point2, point3, c);
+            Debug.DrawLine(point3, point4, c);
+            Debug.DrawLine(point4, point1, c);
+
+            Debug.DrawLine(point5, point6, c);
+            Debug.DrawLine(point6, point7, c);
+            Debug.DrawLine(point7, point8, c);
+            Debug.DrawLine(point8, point5, c);
+
+            Debug.DrawLine(point1, point5, c);
+            Debug.DrawLine(point2, point6, c);
+            Debug.DrawLine(point3, point7, c);
+            Debug.DrawLine(point4, point8, c);
+        }
+

        public static void DebugDrawCross(Vector3 pos, float size, Color color)
        {
            Debug.DrawLine(pos - Vector3.right * size, pos + Vector3.right * size, color);
            Debug.DrawLine(pos - Vector3.up * size, pos + Vector3.up * size, color);
            Debug.DrawLine(pos - Vector3.forward * size, pos + Vector3.forward * size, color);
        }

        public static int CeilToPowerOfTwo(this int count)
        {
            int powerOfTwo = 1;
            while (powerOfTwo < count)
                powerOfTwo <<= 1;
            return powerOfTwo;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(ref T lhs, ref T rhs)
        {
            T temp = lhs;
            lhs = rhs;
            rhs = temp;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(this T[] source, int index1, int index2)
        {
            if (source != null && index1 >= 0 && index2 >= 0 && index1 < source.Length && index2 < source.Length)
            {
                T temp = source[index1];
                source[index1] = source[index2];
                source[index2] = temp;
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(this IList<T> list, int index1, int index2)
        {
            if (list != null && index1 >= 0 && index2 >= 0 && index1 < list.Count && index2 < list.Count)
            {
                T temp = list[index1];
                list[index1] = list[index2];
                list[index2] = temp;
            }
        }

        public static void ShiftLeft<T>(this T[] source, int index, int count, int positions)
        {
            for (int j = 0; j < positions; ++j)
            {
                for (int i = index; i < index + count; ++i)
                    source.Swap(i, i - 1);
                index--;
            }
        }

        public static void ShiftRight<T>(this T[] source, int index, int count, int positions)
        {
            for (int j = 0; j < positions; ++j)
            {
                for (int i = index + count - 1; i >= index; --i)
                    source.Swap(i, i + 1);
                index++;
            }
        }

        public static int Unique<T>(this IList<T> list, Func<T,T,bool> equals)
        {
            int result = 0;
            for (int i = 0; i < list.Count; ++i)
            {
                if (!equals(list[result],list[i]) && ++result != i)
                    list[result] = list[i];
            }
            result++;
            return result;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static bool AreValid(this Bounds bounds)
        {
            return !(float.IsNaN(bounds.max.x) || float.IsInfinity(bounds.max.x) ||
                     float.IsNaN(bounds.max.y) || float.IsInfinity(bounds.max.y) ||
                     float.IsNaN(bounds.max.z) || float.IsInfinity(bounds.max.z) ||
                     float.IsNaN(bounds.min.x) || float.IsInfinity(bounds.min.x) ||
                     float.IsNaN(bounds.min.y) || float.IsInfinity(bounds.min.y) ||
                     float.IsNaN(bounds.min.z) || float.IsInfinity(bounds.min.z));
        }

        public static Bounds Transform(this Bounds b, Matrix4x4 m)
        {
            var xa = m.GetColumn(0) * b.min.x;
            var xb = m.GetColumn(0) * b.max.x;

            var ya = m.GetColumn(1) * b.min.y;
            var yb = m.GetColumn(1) * b.max.y;

            var za = m.GetColumn(2) * b.min.z;
            var zb = m.GetColumn(2) * b.max.z;

            Bounds result = new Bounds();
            Vector3 pos = m.GetColumn(3);
            result.SetMinMax(Vector3.Min(xa, xb) + Vector3.Min(ya, yb) + Vector3.Min(za, zb) + pos,
                             Vector3.Max(xa, xb) + Vector3.Max(ya, yb) + Vector3.Max(za, zb) + pos);


            return result;
        }

        public static int CountTrailingZeroes(int x)
        {
            int mask = 1;
            for (int i = 0; i < 32; i++, mask <<= 1)
                if ((x & mask) != 0)
                    return i;

            return 32;
        }

        public static void Add(Vector3 a, Vector3 b, ref Vector3 result)
        {
            result.x = a.x + b.x;
            result.y = a.y + b.y;
            result.z = a.z + b.z;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float Remap(this float value, float from1, float to1, float from2, float to2)
        {
            return (value - from1) / (to1 - from1) * (to2 - from2) + from2;
        }

        /**
         * Modulo operator that also follows intuition for negative arguments. That is , -1 mod 3 = 2, not -1.
         */
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float Mod(float a, float b)
        {
            return a - b * Mathf.Floor(a / b);
        }

        public static Matrix4x4 Add(this Matrix4x4 a, Matrix4x4 other)
        {
            for (int i = 0; i < 16; ++i)
                a[i] += other[i];
            return a;
        }

        public static float FrobeniusNorm(this Matrix4x4 a)
        {
            float norm = 0;
            for (int i = 0; i < 16; ++i)
                norm += a[i] * a[i];

            return norm > 0 ? Mathf.Sqrt(norm) : 0;
        }

        public static Matrix4x4 ScalarMultiply(this Matrix4x4 a, float s)
        {
            for (int i = 0; i < 16; ++i)
                a[i] *= s;
            return a;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static Vector4 Diagonal(this Matrix4x4 value)
        {
            return new Vector4(value.m00, value.m11, value.m22, value.m33);
        }

        public static Vector3 ProjectPointLine(Vector3 lineStart, Vector3 lineEnd, Vector3 point, out float mu, bool clampToSegment = true)
        {
            Vector3 ap = point - lineStart;
            Vector3 ab = lineEnd - lineStart;

            mu = Vector3.Dot(ap, ab) / Vector3.Dot(ab, ab);

            if (clampToSegment)
                mu = Mathf.Clamp01(mu);

            return lineStart + ab * mu;
        }

        public static bool LinePlaneIntersection(Vector3 planePoint, Vector3 planeNormal, Vector3 linePoint, Vector3 lineDirection, out Vector3 point)
        {
            point = linePoint;
            Vector3 lineNormal = lineDirection.normalized;
            float denom = Vector3.Dot(planeNormal, lineNormal);

            if (Mathf.Approximately(denom, 0))
                return false;

            float t = (Vector3.Dot(planeNormal,planePoint) - Vector3.Dot(planeNormal,linePoint)) / denom;
            point = linePoint + lineNormal * t;
            return true;
        }

        public static float RaySphereIntersection(Vector3 rayOrigin, Vector3 rayDirection, Vector3 center, float radius)
        {
            Vector3 oc = rayOrigin - center;

            float a = Vector3.Dot(rayDirection, rayDirection);
            float b = 2.0f * Vector3.Dot(oc, rayDirection);
            float c = Vector3.Dot(oc, oc) - radius * radius;
            float discriminant = b * b - 4 * a * c;
            if(discriminant < 0){
                return -1.0f;
            }
            else{
                return (-b - Mathf.Sqrt(discriminant)) / (2.0f * a);
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float InvMassToMass(float invMass)
        {
            return 1.0f / invMass;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float MassToInvMass(float mass)
        {
            return 1.0f / Mathf.Max(mass, 0.00001f);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int PureSign(this float val)
        {
            return ((0 <= val)?1:0) - ((val < 0)?1:0);
        }

        public static void NearestPointOnTri(in Vector3 p1,
                                                in Vector3 p2,
                                                in Vector3 p3,
                                                in Vector3 p,
                                                out Vector3 result)
        {
            float e0x = p2.x - p1.x;
            float e0y = p2.y - p1.y;
            float e0z = p2.z - p1.z;

            float e1x = p3.x - p1.x;
            float e1y = p3.y - p1.y;
            float e1z = p3.z - p1.z;

            float v0x = p1.x - p.x;
            float v0y = p1.y - p.y;
            float v0z = p1.z - p.z;

            float a00 = e0x * e0x + e0y * e0y + e0z * e0z;
            float a01 = e0x * e1x + e0y * e1y + e0z * e1z;
            float a11 = e1x * e1x + e1y * e1y + e1z * e1z;
            float b0 = e0x * v0x + e0y * v0y + e0z * v0z;
            float b1 = e1x * v0x + e1y * v0y + e1z * v0z;

            const float zero = 0;
            const float one = 1;

            float det = a00 * a11 - a01 * a01;
            float t0 = a01 * b1 - a11 * b0;
            float t1 = a01 * b0 - a00 * b1;

            if (t0 + t1 <= det)
            {
                if (t0 < zero)
                {
                    if (t1 < zero)  // region 4
                    {
                        if (b0 < zero)
                        {
                            t1 = zero;
                            if (-b0 >= a00)  // V0
                            {
                                t0 = one;
                            }
                            else  // E01
                            {
                                t0 = -b0 / a00;
                            }
                        }
                        else
                        {
                            t0 = zero;
                            if (b1 >= zero)  // V0
                            {
                                t1 = zero;
                            }
                            else if (-b1 >= a11)  // V2
                            {
                                t1 = one;
                            }
                            else  // E20
                            {
                                t1 = -b1 / a11;
                            }
                        }
                    }
                    else  // region 3
                    {
                        t0 = zero;
                        if (b1 >= zero)  // V0
                        {
                            t1 = zero;
                        }
                        else if (-b1 >= a11)  // V2
                        {
                            t1 = one;
                        }
                        else  // E20
                        {
                            t1 = -b1 / a11;
                        }
                    }
                }
                else if (t1 < zero)  // region 5
                {
                    t1 = zero;
                    if (b0 >= zero)  // V0
                    {
                        t0 = zero;
                    }
                    else if (-b0 >= a00)  // V1
                    {
                        t0 = one;
                    }
                    else  // E01
                    {
                        t0 = -b0 / a00;
                    }
                }
                else  // region 0, interior
                {
                    float invDet = one / det;
                    t0 *= invDet;
                    t1 *= invDet;
                }
            }
            else
            {
                float tmp0, tmp1, numer, denom;

                if (t0 < zero)  // region 2
                {
                    tmp0 = a01 + b0;
                    tmp1 = a11 + b1;
                    if (tmp1 > tmp0)
                    {
                        numer = tmp1 - tmp0;
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V1
                        {
                            t0 = one;
                            t1 = zero;
                        }
                        else  // E12
                        {
                            t0 = numer / denom;
                            t1 = one - t0;
                        }
                    }
                    else
                    {
                        t0 = zero;
                        if (tmp1 <= zero)  // V2
                        {
                            t1 = one;
                        }
                        else if (b1 >= zero)  // V0
                        {
                            t1 = zero;
                        }
                        else  // E20
                        {
                            t1 = -b1 / a11;
                        }
                    }
                }
                else if (t1 < zero)  // region 6
                {
                    tmp0 = a01 + b1;
                    tmp1 = a00 + b0;
                    if (tmp1 > tmp0)
                    {
                        numer = tmp1 - tmp0;
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V2
                        {
                            t1 = one;
                            t0 = zero;
                        }
                        else  // E12
                        {
                            t1 = numer / denom;
                            t0 = one - t1;
                        }
                    }
                    else
                    {
                        t1 = zero;
                        if (tmp1 <= zero)  // V1
                        {
                            t0 = one;
                        }
                        else if (b0 >= zero)  // V0
                        {
                            t0 = zero;
                        }
                        else  // E01
                        {
                            t0 = -b0 / a00;
                        }
                    }
                }
                else  // region 1
                {
                    numer = a11 + b1 - a01 - b0;
                    if (numer <= zero)  // V2
                    {
                        t0 = zero;
                        t1 = one;
                    }
                    else
                    {
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V1
                        {
                            t0 = one;
                            t1 = zero;
                        }
                        else  // 12
                        {
                            t0 = numer / denom;
                            t1 = one - t0;
                        }
                    }
                }
            }

            result.x = p1.x + t0 * e0x + t1 * e1x;
            result.y = p1.y + t0 * e0y + t1 * e1y;
            result.z = p1.z + t0 * e0z + t1 * e1z;
        }

        /**
         * Calculates the area of a triangle.
         */
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TriangleArea(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Mathf.Sqrt(Vector3.Cross(p2 - p1, p3 - p1).sqrMagnitude) / 2f;
        }

        // Volume of a tetrahedron, assumes one of the corners is at zero.
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TetraVolume(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Vector3.Dot(Vector3.Cross(p1, p2), p3) / 6.0f;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static Vector3 TriangleNormal(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Vector3.Cross(p2 - p1, p3 - p1).normalized;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TriangleAspectRatio(float a, float b, float c)
        {
            float s = (a + b + c) / 2.0f;
            float den = 8.0f * (s - a) * (s - b) * (s - c);

            if (den > epsilon)
                return (a * b * c) / den;

            // a triangle with zero area has zero aspect ratio:
            return 0;
        }

        public static void BestTriangleAxisProjection(Vector3 p1, Vector3 p2, Vector3 p3, out Vector2 r1, out Vector2 r2, out Vector2 r3)
        {
            float areaX = TriangleArea(new Vector3(0, p1.y, p1.z), new Vector3(0, p2.y, p2.z), new Vector3(0, p3.y, p3.z));
            float areaY = TriangleArea(new Vector3(p1.x, 0, p1.z), new Vector3(p2.x, 0, p2.z), new Vector3(p3.x, 0, p3.z));
            float areaZ = TriangleArea(new Vector3(p1.x, p1.y, 0), new Vector3(p2.x, p2.y, 0), new Vector3(p3.x, p3.y, 0));

            if (areaX > areaY && areaX > areaZ)
            {
                r1 = new Vector2(p1.y, p1.z);
                r2 = new Vector2(p2.y, p2.z);
                r3 = new Vector2(p3.y, p3.z);
            }
            else if (areaY > areaX && areaY > areaZ)
            {
                r1 = new Vector2(p1.x, p1.z);
                r2 = new Vector2(p2.x, p2.z);
                r3 = new Vector2(p3.x, p3.z);
            }
            else
            {
                r1 = new Vector2(p1.x, p1.y);
                r2 = new Vector2(p2.x, p2.y);
                r3 = new Vector2(p3.x, p3.y);
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float EllipsoidVolume(Vector3 principalRadii)
        {
            return 4.0f / 3.0f * Mathf.PI * principalRadii.x * principalRadii.y * principalRadii.z;
        }

        public static Quaternion RestDarboux(Quaternion q1, Quaternion q2)
        {
            Quaternion darboux = Quaternion.Inverse(q1) * q2;

            Vector4 omega_plus, omega_minus;
            omega_plus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w + 1);
            omega_minus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w - 1);

            if (omega_minus.sqrMagnitude > omega_plus.sqrMagnitude)
                darboux = new Quaternion(darboux.x * -1, darboux.y * -1, darboux.z * -1, darboux.w * -1);

            return darboux;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float RestBendingConstraint(Vector3 positionA, Vector3 positionB, Vector3 positionC)
        {
            Vector3 center = (positionA + positionB + positionC) / 3;
            return (positionC - center).magnitude;
        }

        public static System.Collections.IEnumerable BilateralInterleaved(int count)
        {
            for (int i = 0; i < count; ++i)
            {
                if (i % 2 != 0)
                    yield return count - (count % 2) - i;
                else yield return i;
            }
        }

        public static void BarycentricCoordinates(in Vector3 A,
                                                  in Vector3 B,
                                                  in Vector3 C,
                                                  in Vector3 P,
                                                  ref Vector3 bary)
        {

                // Compute vectors
                Vector3 v0 = C - A;
                Vector3 v1 = B - A;
                Vector3 v2 = P - A;

                // Compute dot products
                float dot00 = Vector3.Dot(v0,v0);
                float dot01 = Vector3.Dot(v0,v1);
                float dot02 = Vector3.Dot(v0,v2);
                float dot11 = Vector3.Dot(v1,v1);
                float dot12 = Vector3.Dot(v1,v2);

                // Compute barycentric coordinates
                float det = dot00 * dot11 - dot01 * dot01;
                if (Math.Abs(det) > 1E-38)
                {
                    float u = (dot11 * dot02 - dot01 * dot12) / det;
                    float v = (dot00 * dot12 - dot01 * dot02) / det;
                    bary = new Vector3(1-u-v,v,u);
                }

        }

        public static void BarycentricInterpolation(in Vector3 p1, in Vector3 p2, in Vector3 p3, in Vector3 coords, out Vector3 result)
        {
            result.x = coords.x * p1.x + coords.y * p2.x + coords.z * p3.x;
            result.y = coords.x * p1.y + coords.y * p2.y + coords.z * p3.y;
            result.z = coords.x * p1.z + coords.y * p2.z + coords.z * p3.z;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float BarycentricInterpolation(float p1, float p2, float p3, Vector3 coords)
        {
            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float BarycentricExtrapolationScale(Vector3 coords)
        {

            return 1.0f / (coords[0] * coords[0] +
                           coords[1] * coords[1] +
                           coords[2] * coords[2]);

        }

        public static Vector3[] CalculateAngleWeightedNormals(Vector3[] vertices, int[] triangles)
        {
            Vector3[] normals = new Vector3[vertices.Length];
            var normalBuffer = new Dictionary<Vector3, Vector3>();

            Vector3 v1, v2, v3, e1, e2;
            for (int i = 0; i < triangles.Length; i += 3)
            {
                v1 = vertices[triangles[i]];
                v2 = vertices[triangles[i + 1]];
                v3 = vertices[triangles[i + 2]];

                if (!normalBuffer.ContainsKey(v1))
                    normalBuffer[v1] = Vector3.zero;
                if (!normalBuffer.ContainsKey(v2))
                    normalBuffer[v2] = Vector3.zero;
                if (!normalBuffer.ContainsKey(v3))
                    normalBuffer[v3] = Vector3.zero;

                e1 = v2 - v1;
                e2 = v3 - v1;
                normalBuffer[v1] += Vector3.Cross(e1,e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));

                e1 = v3 - v2;
                e2 = v1 - v2;
                normalBuffer[v2] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));

                e1 = v1 - v3;
                e2 = v2 - v3;
                normalBuffer[v3] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));
            }

            for (int i = 0; i < vertices.Length; ++i)
                normals[i] = normalBuffer[vertices[i]].normalized;

            return normals;
        }
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int MakePhase(int group, ParticleFlags flags)
        {
            return (group & ParticleGroupBitmask) | (int)flags;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetGroupFromPhase(int phase)
        {
            return phase & ParticleGroupBitmask;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static ParticleFlags GetFlagsFromPhase(int phase)
        {
            return (ParticleFlags)(phase & ~ParticleGroupBitmask);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int MakeFilter(int mask, int category)
        {
            return (mask << 16) | (1 << category);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetCategoryFromFilter(int filter)
        {
            return CountTrailingZeroes(filter & FilterCategoryBitmask);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetMaskFromFilter(int filter)
        {
            return (filter & FilterMaskBitmask) >> 16;
        }

        public static void EigenSolve(Matrix4x4 D, out Vector3 S, out Matrix4x4 V)
        {
            // D is symmetric
            // S is a vector whose elements are eigenvalues
            // V is a matrix whose columns are eigenvectors
            S = EigenValues(D);
            Vector3 V0, V1, V2;

            if (S[0] - S[1] > S[1] - S[2])
            {
                V0 = EigenVector(D, S[0]);
                if (S[1] - S[2] < epsilon)
                {
                    V2 = V0.unitOrthogonal();
                }
                else
                {
                    V2 = EigenVector(D, S[2]); V2 -= V0 * Vector3.Dot(V0, V2); V2 = Vector3.Normalize(V2);
                }
                V1 = Vector3.Cross(V2, V0);
            }
            else
            {
                V2 = EigenVector(D, S[2]);
                if (S[0] - S[1] < epsilon)
                {
                    V1 = V2.unitOrthogonal();
                }
                else
                {
                    V1 = EigenVector(D, S[1]); V1 -= V2 * Vector3.Dot(V2, V1); V1 = Vector3.Normalize(V1);
                }
                V0 = Vector3.Cross(V1, V2);
            }

            V = Matrix4x4.identity;
            V.SetColumn(0,V0);
            V.SetColumn(1,V1);
            V.SetColumn(2,V2);
        }

        static Vector3 unitOrthogonal(this Vector3 input)
        {
            // Find a vector to cross() the input with.
            if (!(input.x < input.z * epsilon)
             || !(input.y < input.z * epsilon))
            {
                float invnm = 1 / Vector3.Magnitude(new Vector2(input.x,input.y));
                return new Vector3(-input.y * invnm, input.x * invnm, 0);
            }
            else
            {
                float invnm = 1 / Vector3.Magnitude(new Vector2(input.y,input.z));
                return new Vector3(0, -input.z * invnm, input.y * invnm);
            }
        }

        // D is symmetric, S is an eigen value
        static Vector3 EigenVector(Matrix4x4 D, float S)
        {
            // Compute a cofactor matrix of D - sI.
            Vector4 c0 = D.GetColumn(0); c0[0] -= S;
            Vector4 c1 = D.GetColumn(1); c1[1] -= S;
            Vector4 c2 = D.GetColumn(2); c2[2] -= S;

            // Use an upper triangle
            Vector3 c0p = new Vector3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
            Vector3 c1p = new Vector3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
            Vector3 c2p = new Vector3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);

            // Get a column vector with a largest norm (non-zero).
            float C01s = c1p[0] * c1p[0];
            float C02s = c2p[0] * c2p[0];
            float C12s = c2p[1] * c2p[1];
            Vector3 norm = new Vector3(c0p[0] * c0p[0] + C01s + C02s,
                                       C01s + c1p[1] * c1p[1] + C12s,
                                       C02s + C12s + c2p[2] * c2p[2]);

            // index of largest:
            int index = 0;
            if (norm[0] > norm[1] && norm[0] > norm[2])
                index = 0;
            else if (norm[1] > norm[0] && norm[1] > norm[2])
                index = 1;
            else
                index = 2;

            Vector3 V = Vector3.zero;

            // special case
            if (norm[index] < epsilon)
            {
                V[0] = 1; return V;
            }
            else if (index == 0)
            {
                V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
            }
            else if (index == 1)
            {
                V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
            }
            else
            {
                V = c2p;
            }
            return Vector3.Normalize(V);
        }

        static Vector3 EigenValues(Matrix4x4 D)
        {
            float one_third = 1 / 3.0f;
            float one_sixth = 1 / 6.0f;
            float three_sqrt = Mathf.Sqrt(3.0f);

            Vector3 c0 = D.GetColumn(0);
            Vector3 c1 = D.GetColumn(1);
            Vector3 c2 = D.GetColumn(2);

            float m = one_third * (c0[0] + c1[1] + c2[2]);

            // K is D - I*diag(S)
            float K00 = c0[0] - m;
            float K11 = c1[1] - m;
            float K22 = c2[2] - m;

            float K01s = c1[0] * c1[0];
            float K02s = c2[0] * c2[0];
            float K12s = c2[1] * c2[1];

            float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
            float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));

            float p_sqrt = Mathf.Sqrt(p);

            float tmp = p * p * p - q * q;
            float phi = one_third * Mathf.Atan2(Mathf.Sqrt(Mathf.Max(0, tmp)), q);
            float phi_c = Mathf.Cos(phi);
            float phi_s = Mathf.Sin(phi);
            float sqrt_p_c_phi = p_sqrt * phi_c;
            float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;

            float e0 = m + 2 * sqrt_p_c_phi;
            float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
            float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;

            float aux;
            if (e0 > e1)
            {
                aux = e0;
                e0 = e1;
                e1 = aux;
            }
            if (e0 > e2)
            {
                aux = e0;
                e0 = e2;
                e2 = aux;
            }
            if (e1 > e2)
            {
                aux = e1;
                e1 = e2;
                e2 = aux;
            }

            return new Vector3(e2, e1, e0);
        }

        public static Vector3 GetPointCloudCentroid(List<Vector3> points)
        {
            Vector3 centroid = Vector3.zero;
            for (int i = 0; i < points.Count; ++i)
                centroid += points[i];
            return centroid / points.Count;
        }

        public static void GetPointCloudAnisotropy(List<Vector3> points, float max_anisotropy, float radius, in Vector3 hint_normal, ref Vector3 centroid, ref Quaternion orientation, ref Vector3 principal_radii)
        {
            int count = points.Count;
            if (count < 2 || radius <= 0 || max_anisotropy <= 0)
            {
                principal_radii = Vector3.one * radius;
                orientation = Quaternion.identity;
                return;
            }

            centroid = GetPointCloudCentroid(points);

            // three columns of a 3x3 anisotropy matrix: 
            Vector4 c0 = Vector4.zero,
                    c1 = Vector4.zero,
                    c2 = Vector4.zero;

            Matrix4x4 anisotropy = Matrix4x4.zero;

            // multiply offset by offset transposed, and add to matrix:
            for (int i = 0; i < count; i++)
            {
                Vector4 offset = points[i] - centroid;
                c0 += offset * offset[0];
                c1 += offset * offset[1];
                c2 += offset * offset[2];
            }

            // calculate maximum absolute value:
            float max0 = Mathf.Max(Mathf.Max(Mathf.Abs(c0.x), Mathf.Abs(c0.y)), Mathf.Abs(c0.z));
            float max1 = Mathf.Max(Mathf.Max(Mathf.Abs(c1.x), Mathf.Abs(c1.y)), Mathf.Abs(c1.z));
            float max2 = Mathf.Max(Mathf.Max(Mathf.Abs(c2.x), Mathf.Abs(c2.y)), Mathf.Abs(c2.z));
            float max = Mathf.Max(Mathf.Max(max0,max1), max2);

            // normalize matrix:
            if (max > epsilon)
            {
                c0 /= max;
                c1 /= max;
                c2 /= max;
            }

            anisotropy.SetColumn(0, c0); 
            anisotropy.SetColumn(1, c1); 
            anisotropy.SetColumn(2, c2); 

            Matrix4x4 orientMat;
            EigenSolve(anisotropy, out principal_radii, out orientMat);

            // flip orientation if it is not in the same side as the hint normal:
            if (Vector3.Dot(orientMat.GetColumn(2),hint_normal) < 0)
            {
                orientMat.SetColumn(2,orientMat.GetColumn(2) * -1);
                orientMat.SetColumn(1,orientMat.GetColumn(1) * -1);
            }

            max = principal_radii[0];
            principal_radii = Vector3.Max(principal_radii,Vector3.one * max/max_anisotropy) / max * radius;
            orientation = orientMat.rotation;
        }

        public static int MergeBatches<T>(List<T> batches, int count, bool trimExcess) where T : IRenderBatch
        {
            // merge batches (using a method similar to std::unique):
            int current = 0;
            for (int i = 1; i < count; ++i)
            {
                var resultBatch = batches[current];

                // see if we can merge this batch:
                if (current != i)
                {
                    // if we can't merge the current batch with the result,
                    // advance to the next one.
                    if (!resultBatch.TryMergeWith(batches[i]))
                        batches[++current] = batches[i];
                }
            }
            current++;

            // get rid of excess batches:
            if (trimExcess && current < batches.Count)
                batches.RemoveRange(current, batches.Count - current);

            return current;
        }

        public static int MergeBatches<T>(List<T> batches) where T : IRenderBatch
        {
+            return MergeBatches(batches, batches.Count, true);
        }

        public static void Concatenate(this MemoryStream ms, Vector3 v)
        {
            for (int i = 0; i < 3; ++i)
            {
                var b = BitConverter.GetBytes(v[i]);
                ms.Write(b, 0, b.Length);
            }
        }

        public static void Concatenate(this MemoryStream ms, Quaternion q)
        {
            for (int i = 0; i < 4; ++i)
            {
                var b = BitConverter.GetBytes(q[i]);
                ms.Write(b, 0, b.Length);
            }
        }

        public static void Concatenate(this MemoryStream ms, float f)
        {
            var b = BitConverter.GetBytes(f);
            ms.Write(b, 0, b.Length);
        }


        public static void Concatenate(this MemoryStream ms, int f)
        {
            var b = BitConverter.GetBytes(f);
            ms.Write(b, 0, b.Length);
        }

        public static uint Adler32(byte[] bytes)
        {
            const int mod = 65521;
            uint a = 1, b = 0;
            foreach (byte c in bytes)
            {
                a = (a + c) % mod;
                b = (b + a) % mod;
            }
            return (b << 16) | a;
        }
+
+        public unsafe static Vector3 OctDecode(float k)
+        {
+            uint d = *(uint*)&k;
+            Vector2 f = new Vector2((d >> 16) / 65535f, (d & 0xffff) / 65535f);
+            f.x = f.x * 2 - 1;
+            f.y = f.y * 2 - 1;
+
+            Vector3 n = new Vector3(f.x, f.y, 1.0f - Mathf.Abs(f.x) - Mathf.Abs(f.y));
+            float t = Mathf.Max(-n.z, 0);
+            n.x += n.x >= 0.0f ? -t : t;
+            n.y += n.y >= 0.0f ? -t : t;
+            return Vector3.Normalize(n);
+        }
+
+        public unsafe static Vector4 UnpackFloatRGBA(float v)
+        {
+            uint rgba = *(uint*)&v;
+            float r = ((rgba & 0xff000000) >> 24) / 255f;
+            float g = ((rgba & 0x00ff0000) >> 16) / 255f;
+            float b = ((rgba & 0x0000ff00) >> 8) / 255f;
+            float a = (rgba & 0x000000ff) / 255f;
+            return new Vector4(r, g, b, a);
+        }
+
+        public unsafe static float PackFloatRGBA(Vector4 enc)
+        {
+            uint rgba = ((uint)(enc.x * 255f) << 24) +
+                        ((uint)(enc.y * 255f) << 16) +
+                        ((uint)(enc.z * 255f) << 8) +
+                        (uint)(enc.w * 255f);
+            return *(float*)&rgba;
+        }
+
+        public unsafe static Vector2 UnpackFloatRG(float v)
+        {
+            uint rgba = *(uint*)&v;
+            float r = ((rgba & 0xffff0000) >> 16) / 65535f;
+            float g = (rgba & 0x0000ffff) / 65535f;
+            return new Vector2(r, g);
+        }
+
+        public unsafe static float PackFloatRG(Vector2 enc)
+        {
+            uint rgba = ((uint)(enc.x * 65535f) << 16) +
+                        (uint)(enc.y * 65535f);
+            return *(float*)&rgba;
+        }
    }
}

\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta
new file mode 100644
index 00000000..455098f6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 8ac31071459b040f39f1d86300525ed4
+timeCreated: 1435569421
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs
new file mode 100644
index 00000000..5be0c7ea
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs
@@ -0,0 +1,48 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public static class ObiVectorMath
+    {
+        public static void Cross(Vector3 a, Vector3 b, ref float x, ref float y, ref float z)
+        {
+            x = a.y * b.z - a.z * b.y;
+            y = a.z * b.x - a.x * b.z;
+            z = a.x * b.y - a.y * b.x;
+        }
+
+        public static void Cross(Vector3 a, Vector3 b, ref Vector3 res)
+        {
+            res.x = a.y * b.z - a.z * b.y;
+            res.y = a.z * b.x - a.x * b.z;
+            res.z = a.x * b.y - a.y * b.x;
+        }
+
+        public static void Cross(float ax, float ay, float az, float bx, float by, float bz, ref float x, ref float y, ref float z)
+        {
+            x = ay * bz - az * by;
+            y = az * bx - ax * bz;
+            z = ax * by - ay * bx;
+        }
+
+        /**
+         * res = b - a
+         */
+        public static void Subtract(Vector3 a, Vector3 b, ref Vector3 res)
+        {
+            res.x = b.x - a.x;
+            res.y = b.y - a.y;
+            res.z = b.z - a.z;
+        }
+
+        public static void BarycentricInterpolation(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 n1, Vector3 n2, Vector3 n3, Vector3 coords, float height, ref Vector3 res)
+        {
+            res.x = coords.x * p1.x + coords.y * p2.x + coords.z * p3.x + (coords.x * n1.x + coords.y * n2.x + coords.z * n3.x) * height;
+            res.y = coords.x * p1.y + coords.y * p2.y + coords.z * p3.y + (coords.x * n1.y + coords.y * n2.y + coords.z * n3.y) * height;
+            res.z = coords.x * p1.z + coords.y * p2.z + coords.z * p3.z + (coords.x * n1.z + coords.y * n2.z + coords.z * n3.z) * height;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta
new file mode 100644
index 00000000..fee9b11e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6e41ed0a6b70c4f6bae2b72f0a3f89e4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs b/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs
new file mode 100644
index 00000000..55ce6cea
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(ObiActor))]
+    public class SetCategory : MonoBehaviour
+    {
+        public int category;
+        private ObiActor act;
+
+        private void Awake()
+        {
+            act = GetComponent<ObiActor>();
+            act.OnBlueprintLoaded += OnLoad;
+
+            if (act.isLoaded)
+				act.SetFilterCategory(category);
+		}
+
+        private void OnDestroy()
+        {
+            act.OnBlueprintLoaded -= OnLoad;
+        }
+
+        private void OnValidate()
+        {
+            category = Mathf.Clamp(category, ObiUtils.MinCategory, ObiUtils.MaxCategory);
+
+            if (act != null && act.isLoaded)
+				act.SetFilterCategory(category);
+		}
+
+        private void OnLoad(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            actor.SetFilterCategory(category);
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta b/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta
new file mode 100644
index 00000000..e9c9e89a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 011ecd7e601cf4613b5b59bfd9d70895
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Obi.asmdef b/xiaofang/Assets/Obi/Scripts/Obi.asmdef
new file mode 100644
index 00000000..abde79cb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Obi.asmdef
@@ -0,0 +1,42 @@
+{
+    "name": "Obi",
+    "references": [
+        "GUID:15fc0a57446b3144c949da3e2b9737a9",
+        "GUID:c579267770062bf448e75eb160330b7f",
+        "GUID:df380645f10b7bc4b97d4f5eb6303d95",
+        "GUID:3eae0364be2026648bf74846acb8a731",
+        "GUID:d8b63aba1907145bea998dd612889d6b",
+        "GUID:2665a8d13d1b3f18800f46e256720795",
+        "GUID:e0cd26848372d4e5c891c569017e11f1"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": true,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "com.unity.render-pipelines.universal",
+            "expression": "7.4.1",
+            "define": "SRP_UNIVERSAL"
+        },
+        {
+            "name": "com.unity.collections",
+            "expression": "0.8.0-preview.5",
+            "define": "OBI_COLLECTIONS"
+        },
+        {
+            "name": "com.unity.burst",
+            "expression": "1.2.3-verified",
+            "define": "OBI_BURST"
+        },
+        {
+            "name": "com.unity.mathematics",
+            "expression": "1.0.1",
+            "define": "OBI_MATHEMATICS"
+        }
+    ],
+    "noEngineReferences": false
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/Obi.asmdef.meta b/xiaofang/Assets/Obi/Scripts/Obi.asmdef.meta
new file mode 100644
index 00000000..dba7c0b6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Obi.asmdef.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: da7abd44cdeea48609605c1c2c9609c0
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/Oni.cs b/xiaofang/Assets/Obi/Scripts/Oni.cs
new file mode 100644
index 00000000..f04dca4e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Oni.cs
@@ -0,0 +1,248 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Runtime.InteropServices;
+using Obi;
+
+
+public static class  Oni
+{
+    public const int ConstraintTypeCount = 17;
+    public const int ColliderShapeTypeCount = 7;
+    public const int QueryTypeCount = 3;
+
+    public enum ConstraintType
+    {
+        Tether = 0,
+        Volume = 1,
+        Chain = 2,
+        Bending = 3,
+        Distance = 4,
+        ShapeMatching = 5,
+        BendTwist = 6,
+        StretchShear = 7,
+        Pin = 8,
+        ParticleCollision = 9,
+        Density = 10,
+        Collision = 11,
+        Skin = 12,
+        Aerodynamics = 13,
+        Stitch = 14,
+        ParticleFriction = 15,
+        Friction = 16
+    };
+
+    [Flags]
+    public enum RenderingSystemType
+    {
+        None = 0,
+        PathSmoother = 1 << 0,
+        ExtrudedRope = 1 << 1,
+        ChainRope = 1 << 2,
+        LineRope = 1 << 3,
+        MeshRope = 1 << 4,
+        Cloth = 1 << 5,
+        SkinnedCloth = 1 << 6,
+        TearableCloth = 1 << 7,
+        Softbody = 1 << 8,
+        Fluid = 1 << 9,
+        Particles = 1 << 10,
+        InstancedParticles = 1 << 11,
+        FoamParticles = 1 << 12,
+
+        AllSmoothedRopes = PathSmoother | ExtrudedRope  | LineRope | MeshRope,
+        AllRopes = PathSmoother | ExtrudedRope | ChainRope | LineRope | MeshRope | Particles | InstancedParticles,
+        AllClothes = Cloth | SkinnedCloth | TearableCloth | Particles | InstancedParticles,
+        AllParticles = Fluid | Particles | InstancedParticles | FoamParticles
+    };
+
+    [Flags]
+    public enum SimplexType
+    {
+        None = 0,
+        Point = 1 << 0,
+        Edge = 1 << 1,
+        Triangle = 1 << 2,
+        All = ~0
+    };
+
+    public enum ShapeType
+    {
+        Sphere = 0,
+        Box = 1,
+        Capsule = 2,
+        Heightmap = 3,
+        TriangleMesh = 4,
+        EdgeMesh = 5,
+        SignedDistanceField = 6
+    }
+
+    public enum MaterialCombineMode
+    {
+        Average = 0,
+        Minimum = 1,
+        Multiply = 2,
+        Maximum = 3
+    }
+
+    [Serializable]
+    [StructLayout(LayoutKind.Sequential)]
+    public struct SolverParameters
+    {
+
+        public enum Interpolation
+        {
+            None,
+            Interpolate,
+            Extrapolate
+        };
+
+        public enum Mode
+        {
+            Mode3D,
+            Mode2D,
+        };
+
+        [Tooltip("In 2D mode, particles are simulated on the XY plane only. For use in conjunction with Unity's 2D mode.")]
+        public Mode mode;
+
+        [Tooltip("Same as Rigidbody.interpolation. Set to INTERPOLATE for cloth that is applied on a main character or closely followed by a camera. NONE for everything else.")]
+        public Interpolation interpolation;
+
+        [Tooltip("Simulation gravity expressed in local space.")]
+        public Vector3 gravity;
+
+        [Tooltip("Simulation wind expressed in local space.")]
+        public Vector3 ambientWind;
+
+        [Tooltip("Foam gravity scale.")]
+        [Range(-1, 3)]
+        public float foamGravityScale;
+
+        [Tooltip("Percentage of velocity lost per second, between 0% (0) and 100% (1).")]
+        [Range(0, 1)]
+        public float damping;
+
+        [Tooltip("Max ratio between a particle's longest and shortest axis. Use 1 for isotropic (completely round) particles.")]
+        [Range(1, 5)]
+        public float maxAnisotropy;
+
+        [Tooltip("Mass-normalized kinetic energy threshold below which particle positions aren't updated.")]
+        public float sleepThreshold;
+
+        [Tooltip("Maximum particle linear velocity.")]
+        public float maxVelocity;
+
+        [Tooltip("Maximum particle angular velocity.")]
+        public float maxAngularVelocity;
+
+        [Tooltip("Maximum distance between elements (simplices/colliders) for a contact to be generated.")]
+        public float collisionMargin;
+
+        [Tooltip("Maximum depenetration velocity applied to particles that start a frame inside an object. Low values ensure no 'explosive' collision resolution. Should be > 0 unless looking for non-physical effects.")]
+        public float maxDepenetration;
+
+        [Tooltip("Percentage of collider velocities used for continuous collision detection. Set to 0 for purely static collisions, set to 1 for pure continuous collisions.")]
+        [Range(0, 1)]
+        public float colliderCCD;
+
+        [Tooltip("Percentage of particle velocities used for continuous collision detection. Set to 0 for purely static collisions, set to 1 for pure continuous collisions.")]
+        [Range(0, 1)]
+        public float particleCCD;
+
+        [Tooltip("Percentage of shock propagation applied to particle-particle collisions. Useful for particle stacking.")]
+        [Range(0, 1)]
+        public float shockPropagation;
+
+        [Tooltip("Amount of iterations spent on convex optimization for surface collisions.")]
+        [Range(1, 32)]
+        public int surfaceCollisionIterations;
+
+        [Tooltip("Error threshold at which to stop convex optimization for surface collisions.")]
+        public float surfaceCollisionTolerance;
+
+
+        public SolverParameters(Interpolation interpolation, Vector4 gravity)
+        {
+            this.mode = Mode.Mode3D;
+            this.gravity = gravity;
+            this.ambientWind = Vector3.zero;
+            this.interpolation = interpolation;
+            foamGravityScale = 1;
+            damping = 0;
+            shockPropagation = 0;
+            surfaceCollisionIterations = 8;
+            surfaceCollisionTolerance = 0.005f;
+            maxAnisotropy = 3;
+            maxDepenetration = 10;
+            sleepThreshold = 0.0005f;
+            maxVelocity = 50.0f;
+            maxAngularVelocity = 20.0f;
+            collisionMargin = 0.02f;
+            colliderCCD = 1;
+            particleCCD = 0;
+        }
+
+    }
+
+    [Serializable]
+    public struct ConstraintParameters
+    {
+
+        public enum EvaluationOrder
+        {
+            Sequential,
+            Parallel
+        };
+
+        [Tooltip("Order in which constraints are evaluated. SEQUENTIAL converges faster but is not very stable. PARALLEL is very stable but converges slowly, requiring more iterations to achieve the same result.")]
+        public EvaluationOrder evaluationOrder;                             /**< Constraint evaluation order.*/
+
+        [Tooltip("Number of relaxation iterations performed by the constraint solver. A low number of iterations will perform better, but be less accurate.")]
+        public int iterations;                                              /**< Amount of solver iterations per step for this constraint group.*/
+
+        [Tooltip("Over (or under if < 1) relaxation factor used. At 1, no overrelaxation is performed. At 2, constraints double their relaxation rate. High values reduce stability but improve convergence.")]
+        [Range(0.1f, 2)]
+        public float SORFactor;                                             /**< Sucessive over-relaxation factor for parallel evaluation order.*/
+
+        [Tooltip("Whether this constraint group is solved or not.")]
+        [MarshalAs(UnmanagedType.I1)]
+        public bool enabled;
+
+        public ConstraintParameters(bool enabled, EvaluationOrder order, int iterations)
+        {
+            this.enabled = enabled;
+            this.iterations = iterations;
+            this.evaluationOrder = order;
+            this.SORFactor = 1;
+        }
+
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ContactPair
+    {
+        public int bodyA;    /** simplex index*/
+        public int bodyB;    /** simplex or rigidbody index*/
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Contact
+    {
+        public Vector4 pointA;
+        public Vector4 pointB; 		   /**< Speculative point of contact. */
+        public Vector4 normal;         /**< Normal direction. */
+        public Vector4 tangent;        /**< Tangent direction. */
+
+        public float distance;    /** distance between both colliding entities at the beginning of the timestep.*/
+
+        public float normalImpulse;
+        public float tangentImpulse;
+        public float bitangentImpulse;
+        public float stickImpulse;
+        public float rollingFrictionImpulse;
+
+        public int bodyA;    /** simplex index*/
+        public int bodyB;    /** simplex or rigidbody index*/
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/Oni.cs.meta b/xiaofang/Assets/Obi/Scripts/Oni.cs.meta
new file mode 100644
index 00000000..e878c137
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/Oni.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: df1db1289f87d47fb934d1fdb2ed9965
+timeCreated: 1442803224
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod.meta
new file mode 100644
index 00000000..b70af415
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: a5d5467b3dbba47dab7f72d43fcd6ebe
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors.meta
new file mode 100644
index 00000000..225b6359
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: abc784de05f944701a4dff27d147b35f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
new file mode 100644
index 00000000..8a33592b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
@@ -0,0 +1,690 @@
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Bone", 882)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    [DefaultExecutionOrder(100)] // make sure ObiBone's LateUpdate is updated after ObiSolver's.
+    public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser, IAerodynamicConstraintsUser
+    {
+        [Serializable]
+        public class BonePropertyCurve
+        {
+            [Min(0)]
+            public float multiplier;
+            public AnimationCurve curve;
+
+            public BonePropertyCurve(float multiplier, float curveValue)
+            {
+                this.multiplier = multiplier;
+                this.curve = new AnimationCurve(new Keyframe(0, curveValue), new Keyframe(1, curveValue));
+            }
+
+            public float Evaluate(float time)
+            {
+                return curve.Evaluate(time) * multiplier;
+            }
+        }
+
+        [Serializable]
+        public class IgnoredBone
+        {
+            public Transform bone;
+            public bool ignoreChildren;
+        }
+
+        [NonSerialized] protected ObiBoneBlueprint m_BoneBlueprint;
+
+        [SerializeField] protected bool m_SelfCollisions = false;
+
+        [SerializeField] protected BonePropertyCurve _radius = new BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected BonePropertyCurve _mass = new BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected BonePropertyCurve _rotationalMass = new BonePropertyCurve(0.1f, 1);
+
+        // skin constraints:
+        [SerializeField] protected bool _skinConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _skinCompliance = new BonePropertyCurve(0.01f, 1);
+        [SerializeField] protected BonePropertyCurve _skinRadius = new BonePropertyCurve(0.1f, 1);
+
+        // distance constraints:
+        [SerializeField] protected bool _stretchShearConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _stretchCompliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _shear1Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _shear2Compliance = new BonePropertyCurve(0, 1);
+
+        // bend constraints:
+        [SerializeField] protected bool _bendTwistConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _torsionCompliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _bend1Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _bend2Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _plasticYield = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _plasticCreep = new BonePropertyCurve(0, 1);
+
+        // aerodynamics
+        [SerializeField] protected bool _aerodynamicsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _drag = new BonePropertyCurve(0.05f, 1);
+        [SerializeField] protected BonePropertyCurve _lift = new BonePropertyCurve(0.02f, 1);
+
+        [Tooltip("Filter used for collision detection.")]
+        [SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
+
+        public bool fixRoot = true;
+        public bool stretchBones = true;
+        public List<IgnoredBone> ignored = new List<IgnoredBone>();
+
+        /// <summary>  
+        /// Collision filter value used by fluid particles.
+        /// </summary>
+        public int Filter
+        {
+            set
+            {
+                if (filter != value)
+                {
+                    filter = value;
+                    UpdateFilter();
+                }
+            }
+            get { return filter; }
+        }
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Particle radius distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve radius
+        {
+            get { return _radius; }
+            set { _radius = value; UpdateRadius(); }
+        }
+
+        /// <summary>  
+        /// Mass distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve mass
+        {
+            get { return _mass; }
+            set { _mass = value; UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Rotational mass distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve rotationalMass
+        {
+            get { return _rotationalMass; }
+            set { _rotationalMass = value; UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's skin constraints are enabled.
+        /// </summary>
+        public bool skinConstraintsEnabled
+        {
+            get { return _skinConstraintsEnabled; }
+            set { if (value != _skinConstraintsEnabled) { _skinConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Skin); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin constraints.
+        /// </summary>
+        public BonePropertyCurve skinCompliance
+        {
+            get { return _skinCompliance; }
+            set { _skinCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin radius
+        /// </summary>
+        public BonePropertyCurve skinRadius
+        {
+            get { return _skinRadius; }
+            set { _skinRadius = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's stretch/shear constraints are enabled.
+        /// </summary>
+        public bool stretchShearConstraintsEnabled
+        {
+            get { return _stretchShearConstraintsEnabled; }
+            set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch/shear constraints, along their length.
+        /// </summary>
+        public BonePropertyCurve stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve shear1Compliance
+        {
+            get { return _shear1Compliance; }
+            set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve shear2Compliance
+        {
+            get { return _shear2Compliance; }
+            set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's bend/twist constraints are enabled.
+        /// </summary>
+        public bool bendTwistConstraintsEnabled
+        {
+            get { return _bendTwistConstraintsEnabled; }
+            set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Torsional compliance of this actor's bend/twist constraints along their length.
+        /// </summary>
+        public BonePropertyCurve torsionCompliance
+        {
+            get { return _torsionCompliance; }
+            set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve bend1Compliance
+        {
+            get { return _bend1Compliance; }
+            set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve bend2Compliance
+        {
+            get { return _bend2Compliance; }
+            set { _bend2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Threshold for plastic behavior. 
+        /// </summary>
+        /// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
+        public BonePropertyCurve plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
+        /// </summary>
+        public BonePropertyCurve plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        ///   Whether this actor's aerodynamic constraints are enabled.
+        /// </summary>
+        public bool aerodynamicsEnabled
+        {
+            get { return _aerodynamicsEnabled; }
+            set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
+        }
+
+        /// <summary>  
+        /// Aerodynamic drag value.
+        /// </summary>
+        public BonePropertyCurve drag
+        {
+            get { return _drag; }
+            set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic lift value.
+        /// </summary>
+        public BonePropertyCurve lift
+        {
+            get { return _lift; }
+            set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_BoneBlueprint; }
+        }
+
+        public ObiBoneBlueprint boneBlueprint
+        {
+            get { return m_BoneBlueprint; }
+            set
+            {
+                if (m_BoneBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_BoneBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        protected override void Awake()
+        {
+            m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
+            UpdateBlueprint();
+            base.Awake();
+        }
+
+        protected override void OnDestroy()
+        {
+            if (m_BoneBlueprint != null)
+                DestroyImmediate(m_BoneBlueprint);
+
+            base.OnDestroy();
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            UpdateFilter();
+            UpdateRadius();
+            UpdateMasses();
+            SetupRuntimeConstraints();
+        }
+
+        public void UpdateBlueprint()
+        {
+            if (m_BoneBlueprint != null)
+            {
+                m_BoneBlueprint.root = transform;
+                m_BoneBlueprint.ignored = ignored;
+                m_BoneBlueprint.mass = mass;
+                m_BoneBlueprint.rotationalMass = rotationalMass;
+                m_BoneBlueprint.radius = radius;
+                m_BoneBlueprint.GenerateImmediate();
+            }
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            base.LoadBlueprint(solver);
+
+            // synchronously read required data from GPU:
+            solver.renderablePositions.Readback(false);
+            solver.renderableOrientations.Readback(false);
+            solver.orientations.Readback(false);
+            solver.angularVelocities.Readback(false);
+
+            SetupRuntimeConstraints();
+            ResetToCurrentShape();
+        }
+
+        public override void UnloadBlueprint(ObiSolver solver)
+        {
+            ResetParticles();
+            CopyParticleDataToTransforms();
+            base.UnloadBlueprint(solver);
+        }
+
+        public override void RequestReadback()
+        {
+            base.RequestReadback();
+
+            solver.orientations.Readback();
+            solver.angularVelocities.Readback();
+            solver.renderablePositions.Readback();
+            solver.renderableOrientations.Readback();
+        }
+
+        public override void SimulationEnd(float simulatedTime, float substepTime)
+        {
+            base.SimulationEnd(simulatedTime, substepTime);
+
+            solver.orientations.WaitForReadback();
+            solver.angularVelocities.WaitForReadback();
+            solver.renderablePositions.WaitForReadback();
+            solver.renderableOrientations.WaitForReadback();
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.Skin);
+            SetConstraintsDirty(Oni.ConstraintType.StretchShear);
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+            SetSelfCollisions(selfCollisions);
+            SetSimplicesDirty();
+            UpdateFilter();
+        }
+
+        public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+            var boneBprint = sharedBlueprint as ObiBoneBlueprint;
+            if (boneBprint != null && boneBprint.deformableEdges != null)
+            {
+                // Send deformable edge indices to the solver:
+                for (int i = 0; i < boneBprint.deformableEdges.Length; ++i)
+                    deformableEdges.Add(solverIndices[boneBprint.deformableEdges[i]]);
+            }
+        }
+
+        private void FixRoot()
+        {
+            if (isLoaded)
+            {
+                int rootIndex = solverIndices[0];
+
+                var actor2Solver = actorLocalToSolverMatrix;
+                var actor2SolverR = actor2Solver.rotation;
+
+                solver.invMasses[rootIndex] = 0;
+                solver.invRotationalMasses[rootIndex] = 0;
+                solver.velocities[rootIndex] = Vector4.zero;
+                solver.angularVelocities[rootIndex] = Vector4.zero;
+
+                // take particle rest position in actor space (which is always zero), converts to solver space:
+                solver.startPositions[rootIndex] = solver.endPositions[rootIndex] = solver.positions[rootIndex] = actor2Solver.MultiplyPoint3x4(Vector3.zero);
+
+                // take particle rest orientation in actor space, and convert to solver space:
+                solver.startOrientations[rootIndex] = solver.endOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
+            }
+        }
+
+        private void UpdateFilter()
+        {
+            for (int i = 0; i < particleCount; i++)
+            {
+                boneBlueprint.filters[i] = filter;
+                if (isLoaded)
+                    solver.filters[solverIndices[i]] = filter;
+            }
+        }
+
+        public void UpdateRadius()
+        {
+            for (int i = 0; i < particleCount; ++i)
+            {
+                var normalizedCoord = boneBlueprint.normalizedLengths[i];
+                var radii = Vector3.one * radius.Evaluate(normalizedCoord);
+                boneBlueprint.principalRadii[i] = radii;
+
+                if (isLoaded)
+                    solver.principalRadii[solverIndices[i]] = radii;
+            }
+        }
+
+        public void UpdateMasses()
+        {
+            for (int i = 0; i < particleCount; ++i)
+            {
+                var normalizedCoord = boneBlueprint.normalizedLengths[i];
+                var invMass = ObiUtils.MassToInvMass(mass.Evaluate(normalizedCoord));
+                var invRotMass = ObiUtils.MassToInvMass(rotationalMass.Evaluate(normalizedCoord));
+
+                boneBlueprint.invMasses[i] = invMass;
+                boneBlueprint.invRotationalMasses[i] = invRotMass;
+
+                if (isLoaded)
+                {
+                    solver.invMasses[solverIndices[i]] = invMass;
+                    solver.invRotationalMasses[solverIndices[i]] = invRotMass;
+                }
+            }
+        }
+
+        public Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return new Vector3(skinRadius.Evaluate(normalizedCoord), 0, 0);
+        }
+
+        public float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return skinCompliance.Evaluate(normalizedCoord);
+        }
+
+
+        public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
+                               bend2Compliance.Evaluate(normalizedCoord),
+                               torsionCompliance.Evaluate(normalizedCoord));
+        }
+
+        public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector2(plasticYield.Evaluate(normalizedCoord),
+                               plasticCreep.Evaluate(normalizedCoord));
+        }
+
+        public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector3(shear1Compliance.Evaluate(normalizedCoord),
+                               shear2Compliance.Evaluate(normalizedCoord),
+                               stretchCompliance.Evaluate(normalizedCoord));
+        }
+
+        public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return drag.Evaluate(normalizedCoord);
+        }
+
+        public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return lift.Evaluate(normalizedCoord);
+        }
+
+        public void FixedUpdate()
+        {
+            // This resets all bones not affected by animation,
+            // needs to happen once per frame at the very start before Animators are updated.
+            ResetReferenceOrientations();
+        }
+
+        public override void SimulationStart(float timeToSimulate, float substepTime)
+        {
+            base.SimulationStart(timeToSimulate, substepTime);
+
+            if (fixRoot)
+                FixRoot();
+
+            UpdateRestShape();
+        }
+
+        public void LateUpdate()
+        {
+            if (Application.isPlaying && isActiveAndEnabled)
+                CopyParticleDataToTransforms();
+        }
+
+        /// <summary>
+        /// Resets particle orientations/positions to match the current pose of the bone hierarchy, and sets all their velocities to zero.
+        /// </summary>
+        public void ResetToCurrentShape()
+        {
+            if (!isLoaded) return;
+
+            var world2Solver = solver.transform.worldToLocalMatrix;
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                var trfm = boneBlueprint.transforms[i];
+                int solverIndex = solverIndices[i];
+
+                solver.velocities[solverIndex] = Vector4.zero;
+                solver.angularVelocities[solverIndex] = Vector4.zero;
+
+                solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = world2Solver.MultiplyPoint3x4(trfm.position);
+
+                var boneDeltaAWS = trfm.rotation * Quaternion.Inverse(boneBlueprint.restOrientations[i]);
+                solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = world2Solver.rotation * boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[i];
+            }
+
+            // Update constraint data in the blueprint, since StartSimulation won't be called until next frame.
+            var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+
+            if (bc != null)
+                for (int j = 0; j < bc.batchCount; ++j)
+                {
+                    var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
+
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
+                    {
+                        int indexA = batch.particleIndices[i * 2];
+                        int indexB = batch.particleIndices[i * 2 + 1];
+
+                        // calculate bone rotation delta in world space:
+                        var boneDeltaAWS = boneBlueprint.transforms[indexA].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexA]);
+                        var boneDeltaBWS = boneBlueprint.transforms[indexB].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexB]);
+
+                        // apply delta to rest particle orientation:
+                        var orientationA = boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexA];
+                        var orientationB = boneDeltaBWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexB];
+
+                        batch.restDarbouxVectors[i] = ObiUtils.RestDarboux(orientationA, orientationB);
+                    }
+                }
+
+            var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
+
+            if (sc != null)
+                for (int j = 0; j < sc.batchCount; ++j)
+                {
+                    var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
+                    {
+                        int index = batch.particleIndices[i];
+                        batch.skinPoints[i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
+                    }
+                }
+        }
+
+        private void ResetReferenceOrientations()
+        {
+            if (boneBlueprint != null)
+                for (int i = 1; i < boneBlueprint.restTransformOrientations.Count; ++i)
+                    boneBlueprint.transforms[i].localRotation = boneBlueprint.restTransformOrientations[i];
+        }
+
+        private void UpdateRestShape()
+        {
+            // use current bone transforms as rest state for the simulation:
+            var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+            var sbc = solver.GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+
+            if (bendTwistConstraintsEnabled && bc != null && sbc != null)
+            {
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of bc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.BendTwist].Count; ++j)
+                {
+                    var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
+                    var solverBatch = sbc.batches[j] as ObiBendTwistConstraintsBatch;
+                    int offset = solverBatchOffsets[(int)Oni.ConstraintType.BendTwist][j];
+
+                    if (solverBatch.restDarbouxVectors.isCreated)
+                    {
+                        if (solverBatch.restDarbouxVectors.computeBuffer == null)
+                            solverBatch.restDarbouxVectors.SafeAsComputeBuffer<Vector4>();
+
+                        for (int i = 0; i < batch.activeConstraintCount; i++)
+                        {
+                            int indexA = batch.particleIndices[i * 2];
+                            int indexB = batch.particleIndices[i * 2 + 1];
+
+                            // calculate bone rotation delta in world space:
+                            var boneDeltaAWS = boneBlueprint.transforms[indexA].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexA]);
+                            var boneDeltaBWS = boneBlueprint.transforms[indexB].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexB]);
+
+                            // apply delta to rest particle orientation:
+                            var orientationA = boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexA];
+                            var orientationB = boneDeltaBWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexB];
+
+                            solverBatch.restDarbouxVectors[offset + i] = ObiUtils.RestDarboux(orientationA, orientationB);
+                        }
+
+                        solverBatch.restDarbouxVectors.Upload();
+                    }
+                }
+            }
+
+            var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
+            var ssc = solver.GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
+
+            if (skinConstraintsEnabled && sc != null && ssc != null)
+            {
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of sc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Skin].Count; ++j)
+                {
+                    var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
+                    var solverBatch = ssc.batches[j] as ObiSkinConstraintsBatch;
+                    int offset = solverBatchOffsets[(int)Oni.ConstraintType.Skin][j];
+
+                    if (solverBatch.skinPoints.isCreated)
+                    {
+                        if (solverBatch.skinPoints.computeBuffer == null)
+                            solverBatch.skinPoints.SafeAsComputeBuffer<Vector4>();
+
+                        for (int i = 0; i < batch.activeConstraintCount; i++)
+                        {
+                            int index = batch.particleIndices[i];
+                            solverBatch.skinPoints[offset + i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
+                        }
+
+                        solverBatch.skinPoints.Upload();
+                    }
+                }
+            }
+        }
+
+        private void CopyParticleDataToTransforms()
+        {
+            if (isLoaded && boneBlueprint != null)
+            {
+                // copy current particle transforms to bones:
+                for (int i = 1; i < particleCount; ++i)
+                {
+                    var trfm = boneBlueprint.transforms[i];
+
+                    if (stretchBones)
+                        trfm.position = GetParticlePosition(solverIndices[i]);
+
+                    var delta = GetParticleOrientation(solverIndices[i]) * Quaternion.Inverse(boneBlueprint.root2WorldR * boneBlueprint.orientations[i]);
+                    trfm.rotation = delta * boneBlueprint.restOrientations[i];
+                }
+            }
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta
new file mode 100644
index 00000000..10400fd3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7be315bc5964b4fbca6cf0a978ff76a1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 0a18e0376cc184a9b96ebb3bf0175cc2, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
new file mode 100644
index 00000000..59274cc6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
@@ -0,0 +1,265 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rod", 881)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiRod : ObiRopeBase, IStretchShearConstraintsUser, IBendTwistConstraintsUser, IChainConstraintsUser
+    {
+        [SerializeField] protected ObiRodBlueprint m_RodBlueprint;
+
+        // distance constraints:
+        [SerializeField] protected bool _stretchShearConstraintsEnabled = true;
+        [SerializeField] protected float _stretchCompliance = 0;
+        [SerializeField] protected float _shear1Compliance = 0;
+        [SerializeField] protected float _shear2Compliance = 0;
+
+        // bend constraints:
+        [SerializeField] protected bool _bendTwistConstraintsEnabled = true;
+        [SerializeField] protected float _torsionCompliance = 0;
+        [SerializeField] protected float _bend1Compliance = 0;
+        [SerializeField] protected float _bend2Compliance = 0;
+        [SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
+        [SerializeField] protected float _plasticCreep = 0;
+
+        // chain constraints:
+        [SerializeField] protected bool _chainConstraintsEnabled = true;
+        [SerializeField] [Range(0, 1)] protected float _tightness = 1;
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Whether this actor's stretch/shear constraints are enabled.
+        /// </summary>
+        public bool stretchShearConstraintsEnabled
+        {
+            get { return _stretchShearConstraintsEnabled; }
+            set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch/shear constraints, along their length.
+        /// </summary>
+        public float stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
+        /// </summary>
+        public float shear1Compliance
+        {
+            get { return _shear1Compliance; }
+            set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
+        /// </summary>
+        public float shear2Compliance
+        {
+            get { return _shear2Compliance; }
+            set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's bend/twist constraints are enabled.
+        /// </summary>
+        public bool bendTwistConstraintsEnabled
+        {
+            get { return _bendTwistConstraintsEnabled; }
+            set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Torsional compliance of this actor's bend/twist constraints along their length.
+        /// </summary>
+        public float torsionCompliance
+        {
+            get { return _torsionCompliance; }
+            set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
+        /// </summary>
+        public float bend1Compliance
+        {
+            get { return _bend1Compliance; }
+            set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
+        /// </summary>
+        public float bend2Compliance
+        {
+            get { return _bend2Compliance; }
+            set { _bend2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Threshold for plastic behavior. 
+        /// </summary>
+        /// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
+        public float plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
+        /// </summary>
+        public float plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's chain constraints are enabled.
+        /// </summary>
+        public bool chainConstraintsEnabled
+        {
+            get { return _chainConstraintsEnabled; }
+            set { if (value != _chainConstraintsEnabled) { _chainConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Tightness of this actor's chain constraints.
+        /// </summary>
+        /// Controls how much chain constraints are allowed to compress.
+        public float tightness
+        {
+            get { return _tightness; }
+            set { _tightness = value; SetConstraintsDirty(Oni.ConstraintType.Chain); }
+        }
+
+        /// <summary>  
+        /// Average distance between consecutive particle centers in this rod.
+        /// </summary>
+        public float interParticleDistance
+        {
+            get { return m_RodBlueprint.interParticleDistance; }
+        }
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_RodBlueprint; }
+        }
+
+        public ObiRodBlueprint rodBlueprint
+        {
+            get { return m_RodBlueprint; }
+            set
+            {
+                if (m_RodBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_RodBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetupRuntimeConstraints();
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            base.LoadBlueprint(solver);
+            RebuildElementsFromConstraints();
+            SetupRuntimeConstraints();
+        }
+
+        public override void RequestReadback()
+        {
+            base.RequestReadback();
+            solver.orientations.Readback();
+        }
+
+        public override void SimulationEnd(float simulatedTime, float substepTime)
+        {
+            base.SimulationEnd(simulatedTime, substepTime);
+            solver.orientations.WaitForReadback();
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.StretchShear);
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetConstraintsDirty(Oni.ConstraintType.Chain);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+            SetSelfCollisions(selfCollisions);
+            RecalculateRestLength();
+            SetSimplicesDirty();
+        }
+
+        public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector3(bend1Compliance, bend2Compliance, torsionCompliance);
+        }
+
+        public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector2(plasticYield, plasticCreep);
+        }
+
+        public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector3(shear1Compliance, shear2Compliance, stretchCompliance);
+        }
+
+        protected override void RebuildElementsFromConstraintsInternal()
+        {
+            var dc = GetConstraintsByType(Oni.ConstraintType.StretchShear) as ObiConstraints<ObiStretchShearConstraintsBatch>;
+            if (dc == null || dc.batchCount < 2)
+                return;
+
+            int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
+
+            elements = new List<ObiStructuralElement>(constraintCount);
+
+            for (int i = 0; i < constraintCount; ++i)
+            {
+                var batch = dc.batches[i % 2] as ObiStretchShearConstraintsBatch;
+                int constraintIndex = i / 2;
+
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
+                e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
+                e.restLength = batch.restLengths[constraintIndex];
+                elements.Add(e);
+            }
+
+            if (dc.batches.Count > 2)
+            {
+                var batch = dc.batches[2];
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[0]];
+                e.particle2 = solverIndices[batch.particleIndices[1]];
+                e.restLength = batch.restLengths[0];
+                elements.Add(e);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta
new file mode 100644
index 00000000..4a9bd492
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8f2bc32c4faf04f039a86a6e3cea12a1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 7125c3eebd3cc4f86aac51cca3ee1592, type: 3}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
new file mode 100644
index 00000000..93e82a58
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
@@ -0,0 +1,468 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope", 880)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiRope : ObiRopeBase, IDistanceConstraintsUser, IBendConstraintsUser
+    {
+        [SerializeField] protected ObiRopeBlueprint m_RopeBlueprint;
+        private ObiRopeBlueprint m_RopeBlueprintInstance;
+
+        // rope has a list of structural elements.
+        // each structural element is equivalent to 1 distance constraint and 2 bend constraints (with previous, and following element).
+        // a structural element has force and rest length.
+        // a function re-generates constraints from structural elements when needed, placing them in the appropiate batches.
+
+        public bool tearingEnabled = false;
+        public float tearResistanceMultiplier = 1000;                   /**< Factor that controls how much a structural cloth spring can stretch before breaking.*/
+        public int tearRate = 1;
+
+        // distance constraints:
+        [SerializeField] protected bool _distanceConstraintsEnabled = true;
+        [SerializeField] protected float _stretchingScale = 1;
+        [SerializeField] protected float _stretchCompliance = 0;
+        [SerializeField] [Range(0, 1)] protected float _maxCompression = 0;
+
+        // bend constraints:
+        [SerializeField] protected bool _bendConstraintsEnabled = true;
+        [SerializeField] protected float _bendCompliance = 0;
+        [SerializeField] [Range(0, 0.5f)] protected float _maxBending = 0.025f;
+        [SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
+        [SerializeField] protected float _plasticCreep = 0;
+
+        List<ObiStructuralElement> tornElements = new List<ObiStructuralElement>();
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(selfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Whether this actor's distance constraints are enabled.
+        /// </summary>
+        public bool distanceConstraintsEnabled
+        {
+            get { return _distanceConstraintsEnabled; }
+            set { if (value != _distanceConstraintsEnabled) { _distanceConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Distance); } }
+        }
+
+        /// <summary>  
+        /// Scale value for this actor's distance constraints rest length.
+        /// </summary>
+        /// The default is 1. For instamce, a value of 2 will make the distance constraints twice as long, 0.5 will reduce their length in half.
+        public float stretchingScale
+        {
+            get { return _stretchingScale; }
+            set { _stretchingScale = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch constraints.
+        /// </summary>
+        public float stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        /// Maximum compression this actor's distance constraints can undergo.
+        /// </summary>
+        /// This is expressed as a percentage of the scaled rest length. 
+        public float maxCompression
+        {
+            get { return _maxCompression; }
+            set { _maxCompression = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        ///  Whether this actor's bend constraints are enabled.
+        /// </summary>
+        public bool bendConstraintsEnabled
+        {
+            get { return _bendConstraintsEnabled; }
+            set { if (value != _bendConstraintsEnabled) { _bendConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Bending); } }
+        }
+
+        /// <summary>  
+        ///  Compliance of this actor's bend constraints.
+        /// </summary>
+        public float bendCompliance
+        {
+            get { return _bendCompliance; }
+            set { _bendCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        ///  Max bending value that constraints can undergo before resisting bending.
+        /// </summary>
+        public float maxBending
+        {
+            get { return _maxBending; }
+            set { _maxBending = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        /// Threshold for plastic behavior. 
+        /// </summary>
+        /// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rope's rest shape.
+        public float plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        /// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
+        /// </summary>
+        public float plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        /// Average distance between consecutive particle centers in this rope.
+        /// </summary>
+        public float interParticleDistance
+        {
+            get { return m_RopeBlueprint.interParticleDistance; }
+        }
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_RopeBlueprint; }
+        }
+
+        public ObiRopeBlueprint ropeBlueprint
+        {
+            get { return m_RopeBlueprint; }
+            set
+            {
+                if (m_RopeBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_RopeBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        public delegate void RopeTornCallback(ObiRope rope, ObiRopeTornEventArgs tearInfo);
+        public event RopeTornCallback OnRopeTorn;  /**< Called when a constraint is torn.*/
+
+        public class ObiRopeTornEventArgs
+        {
+            public ObiStructuralElement element;    /**< info about the element being torn.*/
+            public int particleIndex;               /**< index of the particle being torn*/
+
+            public ObiRopeTornEventArgs(ObiStructuralElement element, int particle)
+            {
+                this.element = element;
+                this.particleIndex = particle;
+            }
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            SetupRuntimeConstraints();
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            // create a copy of the blueprint for this cloth:
+            if (Application.isPlaying)
+                m_RopeBlueprintInstance = this.blueprint as ObiRopeBlueprint;
+
+            base.LoadBlueprint(solver);
+            RebuildElementsFromConstraints();
+            SetupRuntimeConstraints();
+        }
+
+        public override void UnloadBlueprint(ObiSolver solver)
+        {
+            base.UnloadBlueprint(solver);
+
+            // delete the blueprint instance:
+            if (m_RopeBlueprintInstance != null)
+                DestroyImmediate(m_RopeBlueprintInstance);
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.Distance);
+            SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+            SetSelfCollisions(selfCollisions);
+            RecalculateRestLength();
+            SetSimplicesDirty();
+        }
+
+        // Tearing must be done at the end of each step instead of substep, to give a chance to solver constraints to be rebuilt.
+        public override void SimulationStart(float timeToSimulate, float substepTime)
+        {
+            base.SimulationStart(timeToSimulate, substepTime);
+
+            if (isActiveAndEnabled && tearingEnabled)
+                ApplyTearing(substepTime);
+        }
+
+        protected void ApplyTearing(float substepTime)
+        {
+
+            float sqrTime = substepTime * substepTime;
+
+            tornElements.Clear();
+
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            var sc = this.solver.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+
+            if (dc != null && sc != null)
+            {
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of dc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Distance].Count; ++j)
+                {
+                    var batch = dc.GetBatch(j) as ObiDistanceConstraintsBatch;
+                    var solverBatch = sc.batches[j] as ObiDistanceConstraintsBatch;
+
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
+                    {
+                        int elementIndex = j + 2 * i;
+
+                        // divide lambda by squared delta time to get force in newtons:
+                        int offset = solverBatchOffsets[(int)Oni.ConstraintType.Distance][j];
+                        float force = solverBatch.lambdas[offset + i] / sqrTime;
+
+                        elements[elementIndex].constraintForce = force;
+
+                        if (-force > tearResistanceMultiplier)
+                        {
+                            tornElements.Add(elements[elementIndex]);
+                        }
+                    }
+                }
+            }
+
+            if (tornElements.Count > 0)
+            {
+
+                // sort edges by force:
+                tornElements.Sort(delegate (ObiStructuralElement x, ObiStructuralElement y)
+                {
+                    return x.constraintForce.CompareTo(y.constraintForce);
+                });
+
+                int tornCount = 0;
+                for (int i = 0; i < tornElements.Count; i++)
+                {
+                    if (Tear(tornElements[i]))
+                        tornCount++;
+                    if (tornCount >= tearRate)
+                        break;
+                }
+
+                if (tornCount > 0)
+                    RebuildConstraintsFromElements();
+            }
+
+        }
+
+        private int SplitParticle(int splitIndex)
+        {
+            // halve the original particle's mass:
+            m_Solver.invMasses[splitIndex] *= 2;
+
+            CopyParticle(solver.particleToActor[splitIndex].indexInActor, activeParticleCount);
+            ActivateParticle();
+            SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
+
+            return solverIndices[activeParticleCount - 1];
+        }
+
+
+        /// <summary>  
+        /// Tears any given rope element. After calling Tear() one or multiple times, a call to RebuildConstraintsFromElements is needed to
+        /// update the rope particle/constraint representation.
+        /// </summary>
+        public bool Tear(ObiStructuralElement element)
+        {
+            // don't allow splitting if there are no free particles left in the pool.
+            if (activeParticleCount >= m_RopeBlueprint.particleCount)
+                return false;
+
+            // Cannot split fixed particles:
+            if (m_Solver.invMasses[element.particle1] == 0)
+                return false;
+
+            // Or particles that have been already split.
+            int index = elements.IndexOf(element);
+            if (index > 0 && elements[index - 1].particle2 != element.particle1)
+                return false;
+
+            element.particle1 = SplitParticle(element.particle1);
+
+            if (OnRopeTorn != null)
+                OnRopeTorn(this, new ObiRopeTornEventArgs(element, element.particle1));
+
+            return true;
+        }
+
+        protected override void RebuildElementsFromConstraintsInternal()
+        {
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            if (dc == null || dc.batchCount < 2)
+                return;
+
+            int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
+
+            elements = new List<ObiStructuralElement>(constraintCount);
+
+            for (int i = 0; i < constraintCount; ++i)
+            {
+                var batch = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
+                int constraintIndex = i / 2;
+
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
+                e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
+                e.restLength = batch.restLengths[constraintIndex];
+                e.tearResistance = 1;
+                elements.Add(e);
+            }
+
+            // loop-closing element:
+            if (dc.batches.Count > 2)
+            {
+                var batch = dc.batches[2];
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[0]];
+                e.particle2 = solverIndices[batch.particleIndices[1]];
+                e.restLength = batch.restLengths[0];
+                e.tearResistance = 1;
+                elements.Add(e);
+            }
+        }
+
+        public override void RebuildConstraintsFromElements()
+        {
+            // regenerate constraints from elements:
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            var bc = GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
+            var ac = GetConstraintsByType(Oni.ConstraintType.Aerodynamics) as ObiConstraints<ObiAerodynamicConstraintsBatch>;
+
+            dc.DeactivateAllConstraints();
+            bc.DeactivateAllConstraints();
+            ac.DeactivateAllConstraints();
+
+            for (int i = 0; i < activeParticleCount; ++i)
+            {
+                // aerodynamic constraints:
+                var ab = ac.batches[0] as ObiAerodynamicConstraintsBatch;
+                int constraint = ab.activeConstraintCount;
+                ab.particleIndices[constraint] = i;
+                ab.aerodynamicCoeffs[constraint * 3] = 2 * solver.principalRadii[solverIndices[i]].x;
+                ab.ActivateConstraint(constraint);
+            }
+
+            int elementsCount = elements.Count - (ropeBlueprint.path.Closed ? 1 : 0);
+            for (int i = 0; i < elementsCount; ++i)
+            {
+                // distance constraints
+                var db = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
+                int constraint = db.activeConstraintCount;
+
+                db.particleIndices[constraint * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
+                db.particleIndices[constraint * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
+                db.restLengths[constraint] = elements[i].restLength;
+                db.stiffnesses[constraint] = new Vector2(_stretchCompliance, _maxCompression * db.restLengths[constraint]);
+                db.ActivateConstraint(constraint);
+
+                // bend constraints
+                if (i < elementsCount - 1)
+                {
+                    var bb = bc.batches[i % 3] as ObiBendConstraintsBatch;
+
+                    // create bend constraint only if there's continuity between elements:
+                    if (elements[i].particle2 == elements[i + 1].particle1)
+                    {
+                        constraint = bb.activeConstraintCount;
+
+                        int indexA = elements[i].particle1;
+                        int indexB = elements[i + 1].particle2;
+                        int indexC = elements[i].particle2;
+                        float restBend = 0;//ObiUtils.RestBendingConstraint(solver.restPositions[indexA], solver.restPositions[indexB], solver.restPositions[indexC]);
+
+                        bb.particleIndices[constraint * 3] = solver.particleToActor[indexA].indexInActor;
+                        bb.particleIndices[constraint * 3 + 1] = solver.particleToActor[indexB].indexInActor;
+                        bb.particleIndices[constraint * 3 + 2] = solver.particleToActor[indexC].indexInActor;
+                        bb.restBends[constraint] = restBend;
+                        bb.bendingStiffnesses[constraint] = new Vector2(_maxBending, _bendCompliance);
+                        bb.ActivateConstraint(constraint);
+                    }
+                }
+            }
+
+            // loop-closing constraints:
+            if (dc.batches.Count > 2)
+            {
+                var loopClosingBatch = dc.batches[2];
+                var lastElement = elements[elements.Count - 1];
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.restLengths[0] = lastElement.restLength;
+                loopClosingBatch.stiffnesses[0] = new Vector2(_stretchCompliance, _maxCompression * loopClosingBatch.restLengths[0]);
+                loopClosingBatch.ActivateConstraint(0);
+            }
+
+            if (bc.batches.Count > 4 && elements.Count > 2)
+            {
+                var loopClosingBatch = bc.batches[3];
+                var lastElement = elements[elements.Count - 2];
+
+                // for loop constraints, 0 is our best approximation of rest bend:
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle1].indexInActor;
+                loopClosingBatch.particleIndices[2] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.restBends[0] = 0;
+                loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
+                loopClosingBatch.ActivateConstraint(0);
+
+                loopClosingBatch = bc.batches[4];
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle2].indexInActor;
+                loopClosingBatch.particleIndices[2] = solver.particleToActor[elements[0].particle1].indexInActor;
+                loopClosingBatch.restBends[0] = 0;
+                loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
+                loopClosingBatch.ActivateConstraint(0);
+            }
+
+            // edge simplices and deformable edges
+            var rb = sharedBlueprint as ObiRopeBlueprint;
+            rb.edges = new int[elements.Count * 2];
+            rb.deformableEdges = new int[elements.Count * 2];
+            for (int i = 0; i < elements.Count; ++i)
+            {
+                rb.deformableEdges[i * 2] = rb.edges[i * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
+                rb.deformableEdges[i * 2 + 1] = rb.edges[i * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
+            }
+
+            SetConstraintsDirty(Oni.ConstraintType.Distance);
+            SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+
+            solver.dirtyDeformableEdges = true;
+            SetSimplicesDirty();
+        }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta
new file mode 100644
index 00000000..98869883
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61104f33a3f344db9b7e0d0cda41a9fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 7a860725829a34375a627c13703f0798, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
new file mode 100644
index 00000000..41313bd3
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
@@ -0,0 +1,163 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiRopeBase : ObiActor, IAerodynamicConstraintsUser
+    {
+
+        [SerializeField] protected bool m_SelfCollisions = false;
+        [HideInInspector] [SerializeField] protected float restLength_ = 0;
+        [HideInInspector] public List<ObiStructuralElement> elements = new List<ObiStructuralElement>();    /**< Elements.*/
+        public event ActorCallback OnElementsGenerated;
+
+        // aerodynamics
+        [SerializeField] protected bool _aerodynamicsEnabled = true;
+        [SerializeField] protected float _drag = 0.05f;
+        [SerializeField] protected float _lift = 0.02f;
+
+        /// <summary>  
+        ///   Whether this actor's aerodynamic constraints are enabled.
+        /// </summary>
+        public bool aerodynamicsEnabled
+        {
+            get { return _aerodynamicsEnabled; }
+            set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
+        }
+
+        /// <summary>  
+        /// Aerodynamic drag value.
+        /// </summary>
+        public float drag
+        {
+            get { return _drag; }
+            set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic lift value.
+        /// </summary>
+        public float lift
+        {
+            get { return _lift; }
+            set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        public float restLength
+        {
+            get { return restLength_; }
+        }
+
+
+        public ObiPath path
+        {
+            get {
+                var ropeBlueprint = (sourceBlueprint as ObiRopeBlueprintBase);
+                return ropeBlueprint != null ? ropeBlueprint.path : null; 
+            }
+        }
+
+        public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            return drag;
+        }
+
+        public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            return lift;
+        }
+
+        public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+            var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
+            if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+            {
+                // Send deformable edge indices to the solver:
+                for (int i = 0; i < ropeBlueprint.deformableEdges.Length; ++i)
+                    deformableEdges.Add(solverIndices[ropeBlueprint.deformableEdges[i]]);
+            }
+        }
+
+        /// <summary>  
+        /// Calculates and returns current rope length, including stretching/compression.
+        /// </summary>
+        public float CalculateLength()
+        {
+            float length = 0;
+
+            if (isLoaded)
+            {
+                // Iterate trough all distance constraints in order:
+                int elementCount = elements.Count;
+                for (int i = 0; i < elementCount; ++i)
+                    length += Vector4.Distance(solver.positions[elements[i].particle1], solver.positions[elements[i].particle2]);
+            }
+            return length;
+        }
+
+        /// <summary>  
+        /// Recalculates the rope's rest length, that is, its length as specified by the blueprint.
+        /// </summary>
+        public void RecalculateRestLength()
+        {
+            restLength_ = 0;
+
+            // Iterate trough all distance elements and accumulate their rest lengths.
+            int elementCount = elements.Count;
+            for (int i = 0; i < elementCount; ++i)
+                restLength_ += elements[i].restLength;
+        }
+
+        /// <summary>  
+        /// Recalculates all particle rest positions, used when filtering self-collisions.
+        /// </summary>
+        public void RecalculateRestPositions()
+        {
+            float pos = 0;
+            int elementCount = elements.Count;
+            for (int i = 0; i < elementCount; ++i)
+            {
+                solver.restPositions[elements[i].particle1] = new Vector4(pos, 0, 0, 1);
+                pos += elements[i].restLength;
+                solver.restPositions[elements[i].particle2] = new Vector4(pos, 0, 0, 1);
+            }
+        }
+
+        /// <summary>  
+        /// Regenerates all rope elements using constraints. It's the opposite of RebuildConstraintsFromElements(). This is automatically called when loading a blueprint, but should also be called when manually
+        /// altering rope constraints (adding/removing/updating constraints and/or batches).
+        /// </summary>
+        public void RebuildElementsFromConstraints()
+        {
+            RebuildElementsFromConstraintsInternal();
+            if (OnElementsGenerated != null)
+                OnElementsGenerated(this);
+        }
+
+        protected abstract void RebuildElementsFromConstraintsInternal();
+
+        /// <summary>  
+        /// Regenerates all rope constraints using rope elements. It's the opposite of RebuildElementsFromConstraints().This should be called anytime the element representation of the rope
+        /// is changed (adding/removing/updating elements). This is usually the case after tearing the rope or changing its length using a cursor.
+        /// </summary>
+        public virtual void RebuildConstraintsFromElements() { }
+
+
+        /// <summary>  
+        /// Returns a rope element that contains a length-normalized coordinate. It will also return the length-normalized coordinate within the element.
+        /// </summary>
+        public ObiStructuralElement GetElementAt(float mu, out float elementMu)
+        {
+            float edgeMu = elements.Count * Mathf.Clamp(mu, 0, 0.99999f);
+
+            int index = (int)edgeMu;
+            elementMu = edgeMu - index;
+
+            if (elements != null && index < elements.Count)
+                return elements[index];
+            return null;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta
new file mode 100644
index 00000000..ee811401
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ab4d6f4281d1c4331b6bacd307c61a95
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
new file mode 100644
index 00000000..998a230d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
@@ -0,0 +1,284 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Cursor", 883)]
+    [RequireComponent(typeof(ObiRope))]
+    public class ObiRopeCursor : MonoBehaviour
+    {
+        ObiRope rope;
+
+        [Range(0, 1)]
+        [HideInInspector] [SerializeField] private float m_CursorMu;
+
+        [Range(0, 1)]
+        [HideInInspector] [SerializeField] private float m_SourceMu;
+
+        public bool direction = true;
+
+        ObiStructuralElement m_CursorElement = null;
+        private int m_SourceIndex = -1;
+        private float lengthChange = 0;
+
+        public float cursorMu
+        {
+            set
+            {
+                m_CursorMu = value;
+                UpdateCursor();
+            }
+            get { return m_CursorMu; }
+        }
+
+        public float sourceMu
+        {
+            set
+            {
+                m_SourceMu = value;
+                UpdateSource();
+            }
+            get { return m_SourceMu; }
+        }
+
+        public ObiStructuralElement cursorElement
+        {
+            get
+            {
+                if (m_CursorElement == null)
+                    UpdateCursor();
+                return m_CursorElement;
+            }
+        }
+
+        public int sourceParticleIndex
+        {
+            get
+            {
+                if (m_SourceIndex < 0)
+                    UpdateSource();
+                return m_SourceIndex;
+            }
+        }
+
+        private void OnEnable()
+        {
+            rope = GetComponent<ObiRope>();
+
+            rope.OnElementsGenerated += Actor_OnElementsGenerated;
+            rope.OnSimulationStart += Rope_OnSimulate;
+            if (rope.elements != null && rope.elements.Count > 0)
+                Actor_OnElementsGenerated(rope);
+        }
+
+        private void OnDisable()
+        {
+            rope.OnElementsGenerated -= Actor_OnElementsGenerated;
+            rope.OnSimulationStart -= Rope_OnSimulate;
+        }
+
+        private void Actor_OnElementsGenerated(ObiActor actor)
+        {
+            UpdateCursor();
+            UpdateSource();
+        }
+
+        private void Rope_OnSimulate(ObiActor actor, float simulatedTime, float substepTime)
+        {
+            if (!rope.isLoaded || Mathf.Abs(lengthChange) < 0.00001f)
+                return;
+
+            var solver = rope.solver;
+
+            // remove:
+            if (lengthChange < 0)
+            {
+                lengthChange = -lengthChange;
+
+                while (lengthChange > m_CursorElement.restLength)
+                {
+                    lengthChange -= m_CursorElement.restLength;
+
+                    int index = rope.elements.IndexOf(m_CursorElement);
+
+                    if (index >= 0)
+                    {
+                        // positive direction:
+                        if (direction)
+                        {
+                            if (index < rope.elements.Count)
+                            {
+                                RemoveParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
+                                rope.elements.RemoveAt(index);
+
+                                if (rope.elements[index].particle1 == m_CursorElement.particle2)
+                                    rope.elements[index].particle1 = m_CursorElement.particle1;
+
+                                m_CursorElement = rope.elements[index];
+                            }
+                            else
+                                m_CursorElement = rope.elements[Mathf.Max(0, index - 1)];
+                        }
+                        else // negative direction:
+                        {
+                            if (index > 0)
+                            {
+                                RemoveParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
+                                rope.elements.RemoveAt(index);
+
+                                if (rope.elements[index - 1].particle2 == m_CursorElement.particle1)
+                                    rope.elements[index - 1].particle2 = m_CursorElement.particle2;
+                                m_CursorElement = rope.elements[index - 1];
+                            }
+                            else
+                                m_CursorElement = rope.elements[0];
+                        }
+                    }
+                }
+
+                // the remaining length is subtracted from the current constraint:
+                if (lengthChange > 0)
+                    m_CursorElement.restLength = Mathf.Max(0, m_CursorElement.restLength - lengthChange);
+
+            }
+            // add
+            else
+            {
+                float lengthDelta = Mathf.Min(lengthChange, Mathf.Max(0, rope.ropeBlueprint.interParticleDistance - m_CursorElement.restLength));
+
+                // extend the current element, if possible:
+                if (lengthDelta > 0)
+                {
+                    m_CursorElement.restLength += lengthDelta;
+                    lengthChange -= lengthDelta;
+                }
+
+                // once the current element has been extended, see if we must add new elements, if there's enough particles left:
+                while (rope.activeParticleCount < rope.sourceBlueprint.particleCount &&
+                       m_CursorElement.restLength + lengthChange > rope.ropeBlueprint.interParticleDistance)
+                {
+                    // calculate added length:
+                    lengthDelta = Mathf.Min(lengthChange, rope.ropeBlueprint.interParticleDistance);
+                    lengthChange -= lengthDelta;
+
+                    if (direction)
+                    {
+                        // add new particle:
+                        int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
+
+                        // set position of the new particle:
+                        solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle1] +
+                                                                        (solver.positions[m_CursorElement.particle2] - solver.positions[m_CursorElement.particle1]) * lengthDelta;
+
+                        // insert a new element:
+                        ObiStructuralElement newElement = new ObiStructuralElement();
+                        newElement.restLength = lengthDelta;
+                        newElement.particle1 = m_CursorElement.particle1;
+                        newElement.particle2 = newParticleSolverIndex;
+                        m_CursorElement.particle1 = newParticleSolverIndex;
+                        int index = rope.elements.IndexOf(m_CursorElement);
+                        rope.elements.Insert(index, newElement);
+
+                        m_CursorElement = newElement;
+                    }
+                    else
+                    {
+                        // add new particle:
+                        int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
+
+                        // set position of the new particle:
+                        solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle2] +
+                                                                   (solver.positions[m_CursorElement.particle1] - solver.positions[m_CursorElement.particle2]) * lengthDelta;
+
+                        // insert a new element:
+                        ObiStructuralElement newElement = new ObiStructuralElement();
+                        newElement.restLength = lengthDelta;
+                        newElement.particle1 = newParticleSolverIndex;
+                        newElement.particle2 = m_CursorElement.particle2;
+                        m_CursorElement.particle2 = newParticleSolverIndex;
+                        int index = rope.elements.IndexOf(m_CursorElement);
+                        rope.elements.Insert(index + 1, newElement);
+
+                        m_CursorElement = newElement;
+                    }
+                }
+
+                // the remaining length is added to the current constraint:
+                if (lengthChange > 0)
+                    m_CursorElement.restLength += lengthChange;
+
+            }
+
+            // recalculate rest positions and length prior to constraints (bend constraints need rest positions):
+            rope.RecalculateRestPositions();
+            rope.RecalculateRestLength();
+
+            // rebuild constraints:
+            rope.RebuildConstraintsFromElements();
+
+            lengthChange = 0;
+        }
+
+        public void UpdateCursor()
+        {
+            rope = GetComponent<ObiRope>();
+            m_CursorElement = null;
+            if (rope.isLoaded)
+            {
+                float elmMu;
+                m_CursorElement = rope.GetElementAt(cursorMu, out elmMu);
+            }
+        }
+
+        public void UpdateSource()
+        {
+            rope = GetComponent<ObiRope>();
+            m_SourceIndex = -1;
+            if (rope.isLoaded)
+            {
+                float elmMu;
+                var elm = rope.GetElementAt(sourceMu, out elmMu);
+                if (elm != null && rope.solver != null)
+                {
+                    m_SourceIndex = elmMu < 0.5f ? elm.particle1 : elm.particle2;
+                }
+            }
+        }
+
+        private int AddParticleAt(int index)
+        {
+            int targetIndex = rope.activeParticleCount;
+
+            // Copy data from the particle where we will insert new particles, to the particles we will insert:
+            rope.CopyParticle(rope.solver.particleToActor[m_SourceIndex].indexInActor, targetIndex);
+
+            // Move the new particle to the one at the place where we will insert it:
+            rope.TeleportParticle(targetIndex, rope.solver.positions[rope.solverIndices[index]]);
+
+            // Activate the particle:
+            rope.ActivateParticle();
+            rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
+
+            return rope.solverIndices[targetIndex];
+        }
+
+        private void RemoveParticleAt(int index)
+        {
+            rope.DeactivateParticle(index);
+            rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
+        }
+
+        public float ChangeLength(float lengthChange)
+        {
+            // clamp new length to sane limits:
+            //newLength = Mathf.Clamp(newLength, 0, (rope.sourceBlueprint.particleCount - 1) * rope.ropeBlueprint.interParticleDistance);
+
+            // accumulate length change, we'll reset it to zero after it has been applied.
+            this.lengthChange += lengthChange;
+
+            // return new length:
+            return this.lengthChange + rope.restLength;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta
new file mode 100644
index 00000000..5656f220
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8285ac97113f74d449053378d0e3a56b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 618cf36eb21e34118ac5697fe77e2c3e, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta
new file mode 100644
index 00000000..7ac71eb2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: acf7eb82de1d147128faa88b9cdb70d3
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
new file mode 100644
index 00000000..ebd52135
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
@@ -0,0 +1,348 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CreateAssetMenu(fileName = "bone blueprint", menuName = "Obi/Bone Blueprint", order = 142)]
+    public class ObiBoneBlueprint : ObiActorBlueprint
+    {
+		public Transform root;
+
+        public const float DEFAULT_PARTICLE_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_ROTATIONAL_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_RADIUS = 0.05f;
+
+        [HideInInspector] public List<Transform> transforms = new List<Transform>();
+        [HideInInspector] public List<Quaternion> restTransformOrientations = new List<Quaternion>();
+        [HideInInspector] public List<int> parentIndices = new List<int>();
+        [HideInInspector] public List<float> normalizedLengths = new List<float>();
+
+        [HideInInspector] public int[] deformableEdges = null;    /**< Indices of deformable edges (2 per edge)*/
+
+        [HideInInspector] [NonSerialized] public List<ObiBone.IgnoredBone> ignored;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve mass;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve rotationalMass;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve radius;
+
+        public Quaternion root2WorldR;
+
+        private GraphColoring colorizer;
+
+        private ObiBone.IgnoredBone GetIgnoredBone(Transform bone)
+        {
+            for (int i = 0; i < ignored.Count; ++i)
+                if (ignored[i].bone == bone)
+                    return ignored[i];
+
+            return null;
+        }
+
+        protected override IEnumerator Initialize()
+        {
+            ClearParticleGroups();
+
+            transforms.Clear();
+            restTransformOrientations.Clear();
+            parentIndices.Clear();
+            normalizedLengths.Clear();
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<Quaternion> particleOrientations = new List<Quaternion>();
+
+            var world2Root = root.transform.worldToLocalMatrix;
+            var world2RootR = world2Root.rotation;
+            root2WorldR = Quaternion.Inverse(world2RootR);
+
+            // create a queue to traverse the hierarchy in a width-first fashion.
+            Queue<Transform> bones = new Queue<Transform>();
+
+            // insert the root bone:
+            bones.Enqueue(root);
+            parentIndices.Add(-1);
+            normalizedLengths.Add(0);
+
+            // initialize hierarchy length:
+            float maxLength = 0;
+
+            while (bones.Count > 0)
+            {
+                var bone = bones.Dequeue();
+
+                if (bone != null)
+                {
+                    var ig = GetIgnoredBone(bone);
+
+                    if (ig == null)
+                    {
+                        transforms.Add(bone);
+                        restTransformOrientations.Add(bone.localRotation);
+                        particlePositions.Add(world2Root.MultiplyPoint3x4(bone.position));
+                        particleOrientations.Add(world2RootR * bone.rotation);
+                    }
+
+                    if (ig == null || !ig.ignoreChildren)
+                    {
+                        foreach (Transform child in bone)
+                        {
+                            ig = GetIgnoredBone(child);
+
+                            if (ig == null)
+                            {
+                                int parentIndex = transforms.Count - 1;
+                                parentIndices.Add(parentIndex);
+
+                                float distanceToParent = Vector3.Distance(child.position, bone.position);
+                                float distanceToRoot = normalizedLengths[parentIndex] + distanceToParent;
+                                maxLength = Mathf.Max(maxLength, distanceToRoot);
+                                normalizedLengths.Add(distanceToRoot);
+                            }
+
+                            bones.Enqueue(child);
+                        }
+                    }
+                }
+
+            }
+
+            // normalize lengths:
+            if (maxLength > 0)
+            {
+                for (int i = 0; i < normalizedLengths.Count; ++i)
+                    normalizedLengths[i] /= maxLength;
+            }
+
+
+            // calculate orientations that minimize the Darboux vector:
+            Vector3[] avgChildrenDirection = new Vector3[parentIndices.Count];
+            int[] childCount = new int[parentIndices.Count];
+
+            for (int i = 0; i < parentIndices.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    var vector = particlePositions[i] - particlePositions[parent];
+                    avgChildrenDirection[parent] += vector;
+                    childCount[parent]++;
+                }
+            }
+
+            for (int i = 0; i < parentIndices.Count; ++i)
+            {
+                if (childCount[i] > 0)
+                    particleOrientations[i] = Quaternion.LookRotation(avgChildrenDirection[i] / childCount[i]);
+                else if (parentIndices[i] >= 0)
+                    particleOrientations[i] = particleOrientations[parentIndices[i]];
+            }
+                    
+
+            m_ActiveParticleCount = particlePositions.Count;
+
+            positions = new Vector3[m_ActiveParticleCount];
+            orientations = new Quaternion[m_ActiveParticleCount];
+            velocities = new Vector3[m_ActiveParticleCount];
+            angularVelocities = new Vector3[m_ActiveParticleCount];
+            invMasses = new float[m_ActiveParticleCount];
+            invRotationalMasses = new float[m_ActiveParticleCount];
+            principalRadii = new Vector3[m_ActiveParticleCount];
+            filters = new int[m_ActiveParticleCount];
+            restPositions = new Vector4[m_ActiveParticleCount];
+            restOrientations = new Quaternion[m_ActiveParticleCount];
+            colors = new Color[m_ActiveParticleCount];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = ObiUtils.MassToInvMass(mass != null ? mass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_MASS);
+                invRotationalMasses[i] = ObiUtils.MassToInvMass(rotationalMass != null ? rotationalMass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_ROTATIONAL_MASS);
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                orientations[i] = particleOrientations[i];
+                restOrientations[i] = /*world2RootR */ transforms[i].rotation;
+                principalRadii[i] = Vector3.one * (radius != null ? radius.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_RADIUS);
+                filters[i] = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+                colors[i] = Color.white;
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            colorizer = new GraphColoring(m_ActiveParticleCount);
+
+            // Deformable edges:
+            CreateDeformableEdges();
+
+            // Create edge simplices:
+            CreateSimplices();
+
+            // Create stretch constraints:
+            IEnumerator dc = CreateStretchShearConstraints(particlePositions);
+            while (dc.MoveNext()) yield return dc.Current;
+
+            // Create bending constraints:
+            IEnumerator bc = CreateBendTwistConstraints(particlePositions);
+            while (bc.MoveNext()) yield return bc.Current;
+
+            // Create skin constraints:
+            IEnumerator sc = CreateSkinConstraints(particlePositions);
+            while (sc.MoveNext()) yield return sc.Current;
+
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+            while (ac.MoveNext()) yield return ac.Current;
+
+            yield return new CoroutineJob.ProgressInfo("ObiBone: complete", 1);
+        }
+
+        protected void CreateDeformableEdges()
+        {
+            deformableEdges = new int[(parentIndices.Count - 1) * 2];
+            for (int i = 0; i < parentIndices.Count - 1; ++i)
+            {
+                deformableEdges[i * 2] = i + 1;
+                deformableEdges[i * 2 + 1] = parentIndices[i + 1];
+            }
+        }
+
+        protected void CreateSimplices()
+        {
+            edges = new int[(parentIndices.Count - 1) * 2];
+            for (int i = 0; i < parentIndices.Count-1; ++i)
+            {
+                edges[i * 2] = i + 1;
+                edges[i * 2 + 1] = parentIndices[i + 1];
+            }
+        }
+
+        protected virtual IEnumerator CreateAerodynamicConstraints()
+        {
+            aerodynamicConstraintsData = new ObiAerodynamicConstraintsData();
+            var aeroBatch = new ObiAerodynamicConstraintsBatch();
+            aerodynamicConstraintsData.AddBatch(aeroBatch);
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                aeroBatch.AddConstraint(i, 2 * principalRadii[i].x, 1, 1);
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope generating aerodynamic constraints...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Set initial amount of active constraints:
+            for (int i = 0; i < aerodynamicConstraintsData.batches.Count; ++i)
+            {
+                aerodynamicConstraintsData.batches[i].activeConstraintCount = m_ActiveParticleCount;
+            }
+        }
+
+        protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particlePositions)
+        {
+            colorizer.Clear();
+
+            for (int i = 1; i < particlePositions.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    colorizer.AddConstraint(new[] { parent, i });
+                }
+            }
+
+            stretchShearConstraintsData = new ObiStretchShearConstraintsData();
+
+            List<int> constraintColors = new List<int>();
+            var colorize = colorizer.Colorize("ObiBone: coloring stretch/shear constraints...", constraintColors);
+            while (colorize.MoveNext())
+                yield return colorize.Current;
+
+            var particleIndices = colorizer.particleIndices;
+            var constraintIndices = colorizer.constraintIndices;
+
+            for (int i = 0; i < constraintColors.Count; ++i)
+            {
+                int color = constraintColors[i];
+                int cIndex = constraintIndices[i];
+
+                // Add a new batch if needed:
+                if (color >= stretchShearConstraintsData.batchCount)
+                    stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+
+                int index1 = particleIndices[cIndex];
+                int index2 = particleIndices[cIndex + 1];
+
+                var vector = particlePositions[index2] - particlePositions[index1];
+                var rest = Quaternion.LookRotation(Quaternion.Inverse(orientations[index1]) * vector);
+
+                stretchShearConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), index1, vector.magnitude, rest);
+                stretchShearConstraintsData.batches[color].activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiBone: generating stretch constraints...", i / constraintColors.Count);
+            }
+        }
+
+        protected virtual IEnumerator CreateBendTwistConstraints(List<Vector3> particlePositions)
+        {
+            colorizer.Clear();
+
+            for (int i = 1; i < particlePositions.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    colorizer.AddConstraint(new[] { parent, i });
+                }
+            }
+
+            bendTwistConstraintsData = new ObiBendTwistConstraintsData();
+
+            List<int> constraintColors = new List<int>();
+            var colorize = colorizer.Colorize("ObiBone: colorizing bend/twist constraints...", constraintColors);
+            while (colorize.MoveNext())
+                yield return colorize.Current;
+
+            var particleIndices = colorizer.particleIndices;
+            var constraintIndices = colorizer.constraintIndices;
+
+            for (int i = 0; i < constraintColors.Count; ++i)
+            {
+                int color = constraintColors[i];
+                int cIndex = constraintIndices[i];
+
+                // Add a new batch if needed:
+                if (color >= bendTwistConstraintsData.batchCount)
+                    bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+
+                int index1 = particleIndices[cIndex];
+                int index2 = particleIndices[cIndex + 1];
+
+                Quaternion darboux = ObiUtils.RestDarboux(orientations[index1], orientations[index2]);
+                bendTwistConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), darboux);
+                bendTwistConstraintsData.batches[color].activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiBone: generating bend constraints...", i / constraintColors.Count);
+            }
+        }
+
+        protected virtual IEnumerator CreateSkinConstraints(List<Vector3> particlePositions)
+        {
+            skinConstraintsData = new ObiSkinConstraintsData();
+            ObiSkinConstraintsBatch skinBatch = new ObiSkinConstraintsBatch();
+            skinConstraintsData.AddBatch(skinBatch);
+
+            for (int i = 0; i < particlePositions.Count; ++i)
+            {
+                skinBatch.AddConstraint(i, particlePositions[i], Vector3.up, 0, 0, 0, 0);
+                skinBatch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiCloth: generating skin constraints...", i / (float)particlePositions.Count);
+            }
+        }
+
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta
new file mode 100644
index 00000000..cf880472
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1df6a43b2a0884e8da322992da465f32
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
new file mode 100644
index 00000000..e17ce9c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
@@ -0,0 +1,288 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    [CreateAssetMenu(fileName = "rod blueprint", menuName = "Obi/Rod Blueprint", order = 141)]
+    public class ObiRodBlueprint : ObiRopeBlueprintBase
+    {
+
+        public bool keepInitialShape = true;
+
+        public const float DEFAULT_PARTICLE_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_ROTATIONAL_MASS = 0.01f;
+
+
+        protected override IEnumerator Initialize()
+        {
+
+            if (path.ControlPointCount < 2)
+            {
+                ClearParticleGroups();
+                path.InsertControlPoint(0, Vector3.left, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, DEFAULT_PARTICLE_ROTATIONAL_MASS, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+                path.InsertControlPoint(1, Vector3.right, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, DEFAULT_PARTICLE_ROTATIONAL_MASS, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+            }
+
+            path.RecalculateLenght(Matrix4x4.identity, 0.00001f, 7);
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<Vector3> particleNormals = new List<Vector3>();
+            List<float> particleThicknesses = new List<float>();
+            List<float> particleInvMasses = new List<float>();
+            List<float> particleInvRotationalMasses = new List<float>();
+            List<int> particleFilters = new List<int>();
+            List<Color> particleColors = new List<Color>();
+
+            // In case the path is open, add a first particle. In closed paths, the last particle is also the first one.
+            if (!path.Closed)
+            {
+                particlePositions.Add(path.points.GetPositionAtMu(path.Closed, 0));
+                particleNormals.Add(path.normals.GetAtMu(path.Closed, 0));
+                particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, 0));
+                particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, 0)));
+                particleInvRotationalMasses.Add(ObiUtils.MassToInvMass(path.rotationalMasses.GetAtMu(path.Closed, 0)));
+                particleFilters.Add(path.filters.GetAtMu(path.Closed, 0));
+                particleColors.Add(path.colors.GetAtMu(path.Closed, 0));
+            }
+
+            // Create a particle group for the first control point:
+            groups[0].particleIndices.Clear();
+            groups[0].particleIndices.Add(0);
+
+            ReadOnlyCollection<float> lengthTable = path.ArcLengthTable;
+            int spans = path.GetSpanCount();
+
+            for (int i = 0; i < spans; i++)
+            {
+                int firstArcLengthSample = i * (path.ArcLengthSamples + 1);
+                int lastArcLengthSample = (i + 1) * (path.ArcLengthSamples + 1);
+
+                float upToSpanLength = lengthTable[firstArcLengthSample];
+                float spanLength = lengthTable[lastArcLengthSample] - upToSpanLength;
+
+                int particlesInSpan = 1 + Mathf.FloorToInt(spanLength / thickness * resolution);
+                float distance = spanLength / particlesInSpan;
+
+                for (int j = 0; j < particlesInSpan; ++j)
+                {
+                    float mu = path.GetMuAtLenght(upToSpanLength + distance * (j + 1));
+                    particlePositions.Add(path.points.GetPositionAtMu(path.Closed, mu));
+                    particleNormals.Add(path.normals.GetAtMu(path.Closed, mu));
+                    particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, mu));
+                    particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, mu)));
+                    particleInvRotationalMasses.Add(ObiUtils.MassToInvMass(path.rotationalMasses.GetAtMu(path.Closed, mu)));
+                    particleFilters.Add(path.filters.GetAtMu(path.Closed, mu));
+                    particleColors.Add(path.colors.GetAtMu(path.Closed, mu));
+                }
+
+                // Create a particle group for each control point:
+                if (!(path.Closed && i == spans - 1))
+                {
+                    groups[i + 1].particleIndices.Clear();
+                    groups[i + 1].particleIndices.Add(particlePositions.Count - 1);
+                }
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)spans);
+            }
+
+            m_ActiveParticleCount = particlePositions.Count;
+            totalParticles = m_ActiveParticleCount;
+
+            int numSegments = m_ActiveParticleCount - (path.Closed ? 0 : 1);
+            if (numSegments > 0)
+                m_InterParticleDistance = path.Length / (float)numSegments;
+            else
+                m_InterParticleDistance = 0;
+
+            positions = new Vector3[totalParticles];
+            orientations = new Quaternion[totalParticles];
+            velocities = new Vector3[totalParticles];
+            angularVelocities = new Vector3[totalParticles];
+            invMasses = new float[totalParticles];
+            invRotationalMasses = new float[totalParticles];
+            principalRadii = new Vector3[totalParticles];
+            filters = new int[totalParticles];
+            restPositions = new Vector4[totalParticles];
+            restOrientations = new Quaternion[totalParticles];
+            colors = new Color[totalParticles];
+            restLengths = new float[totalParticles];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = particleInvMasses[i];
+                invRotationalMasses[i] = particleInvRotationalMasses[i];
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                principalRadii[i] = Vector3.one * particleThicknesses[i] * thickness;
+                filters[i] = particleFilters[i];
+                colors[i] = particleColors[i];
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Deformable edges:
+            CreateDeformableEdges(numSegments);
+
+            // Create edge simplices:
+            CreateSimplices(numSegments);
+
+            // Create distance constraints for the total number of particles, but only activate for the used ones.
+            IEnumerator dc = CreateStretchShearConstraints(particleNormals);
+
+            while (dc.MoveNext())
+                yield return dc.Current;
+
+            // Create bending constraints:
+            IEnumerator bc = CreateBendTwistConstraints();
+
+            while (bc.MoveNext())
+                yield return bc.Current;
+
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+
+            while (ac.MoveNext())
+                yield return ac.Current;
+
+            // Create chain constraints:
+            IEnumerator cc = CreateChainConstraints();
+
+            while (cc.MoveNext())
+                yield return cc.Current;
+
+        }
+
+        protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particleNormals)
+        {
+            stretchShearConstraintsData = new ObiStretchShearConstraintsData();
+
+            stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+            stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+
+            // rotation minimizing frame:
+            ObiPathFrame frame = ObiPathFrame.Identity;
+
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+                var batch = stretchShearConstraintsData.batches[i % 2] as ObiStretchShearConstraintsBatch;
+
+                Vector2Int indices = new Vector2Int(i, i + 1);
+                Vector3 d = positions[indices.y] - positions[indices.x];
+                restLengths[i] = d.magnitude;
+
+                frame.Transport(positions[indices.x], d.normalized, 0);
+
+                orientations[i] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
+                restOrientations[i] = orientations[i];
+
+                // Also set the orientation of the next particle. If it is not the last one, we will overwrite it.
+                // This makes sure that open rods provide an orientation for their last particle (or rather, a phantom segment past the last particle).
+
+                orientations[indices.y] = orientations[i];
+                restOrientations[indices.y] = orientations[i];
+
+                batch.AddConstraint(indices, indices.x, restLengths[i], Quaternion.identity);
+                batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraint to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiStretchShearConstraintsBatch();
+                stretchShearConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                Vector3 d = positions[indices.y] - positions[indices.x];
+                restLengths[m_ActiveParticleCount - 2] = d.magnitude;
+
+                frame.Transport(positions[indices.x], d.normalized, 0);
+
+                orientations[m_ActiveParticleCount - 1] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
+                restOrientations[m_ActiveParticleCount - 1] = orientations[m_ActiveParticleCount - 1];
+
+                loopClosingBatch.AddConstraint(indices, indices.x, restLengths[m_ActiveParticleCount - 2], Quaternion.identity);
+                loopClosingBatch.activeConstraintCount++;
+            }
+
+            // Recalculate rest length:
+            m_RestLength = 0;
+            foreach (float length in restLengths)
+                m_RestLength += length;
+        }
+
+        protected virtual IEnumerator CreateBendTwistConstraints()
+        {
+            bendTwistConstraintsData = new ObiBendTwistConstraintsData();
+
+            // Add two batches:
+            bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+            bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+
+            // the last bend constraint couples the last segment and a phantom segment past the last particle.
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+
+                var batch = bendTwistConstraintsData.batches[i % 2] as ObiBendTwistConstraintsBatch;
+
+                Vector2Int indices = new Vector2Int(i, i + 1);
+
+                Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
+                batch.AddConstraint(indices, darboux);
+                batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiBendTwistConstraintsBatch();
+                bendTwistConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
+                loopClosingBatch.AddConstraint(indices, darboux);
+                loopClosingBatch.activeConstraintCount++;
+            }
+        }
+
+        protected virtual IEnumerator CreateChainConstraints()
+        {
+            chainConstraintsData = new ObiChainConstraintsData();
+
+            // Add a single batch:
+            var batch = new ObiChainConstraintsBatch();
+            chainConstraintsData.AddBatch(batch);
+
+            int[] indices = new int[m_ActiveParticleCount + (path.Closed ? 1 : 0)];
+
+            for (int i = 0; i < m_ActiveParticleCount; ++i)
+                indices[i] = i;
+
+            // Add the first particle as the last index of the chain, if closed.
+            if (path.Closed)
+                indices[m_ActiveParticleCount] = 0;
+
+            // TODO: variable distance between particles:
+            batch.AddConstraint(indices, m_InterParticleDistance, 1, 1);
+            batch.activeConstraintCount++;
+
+            yield return 0;
+        }
+
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta
new file mode 100644
index 00000000..e866891f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e028b099aa5d14e399bc3d87df5b7737
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
new file mode 100644
index 00000000..ce89d402
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
@@ -0,0 +1,236 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+    [CreateAssetMenu(fileName = "rope blueprint", menuName = "Obi/Rope Blueprint", order = 140)]
+    public class ObiRopeBlueprint : ObiRopeBlueprintBase
+    {
+        public int pooledParticles = 100;
+
+        public const float DEFAULT_PARTICLE_MASS = 0.1f;
+
+        protected override IEnumerator Initialize()
+        {
+            if (path.ControlPointCount < 2)
+            {
+                ClearParticleGroups();
+                path.InsertControlPoint(0, Vector3.left, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything,1), Color.white, "control point");
+                path.InsertControlPoint(1, Vector3.right, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+            }
+
+            path.RecalculateLenght(Matrix4x4.identity, 0.00001f, 7);
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<float> particleThicknesses = new List<float>();
+            List<float> particleInvMasses = new List<float>();
+            List<int> particleFilters = new List<int>();
+            List<Color> particleColors = new List<Color>();
+
+            // In case the path is open, add a first particle. In closed paths, the last particle is also the first one.
+            if (!path.Closed)
+            {
+                particlePositions.Add(path.points.GetPositionAtMu(path.Closed, 0));
+                particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, 0));
+                particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, 0)));
+                particleFilters.Add(path.filters.GetAtMu(path.Closed, 0));
+                particleColors.Add(path.colors.GetAtMu(path.Closed, 0));
+            }
+
+            // Create a particle group for the first control point:
+            groups[0].particleIndices.Clear();
+            groups[0].particleIndices.Add(0);
+
+            ReadOnlyCollection<float> lengthTable = path.ArcLengthTable;
+            int spans = path.GetSpanCount();
+
+            for (int i = 0; i < spans; i++)
+            {
+                int firstArcLengthSample = i * (path.ArcLengthSamples + 1);
+                int lastArcLengthSample = (i + 1) * (path.ArcLengthSamples + 1);
+
+                float upToSpanLength = lengthTable[firstArcLengthSample];
+                float spanLength = lengthTable[lastArcLengthSample] - upToSpanLength;
+
+                int particlesInSpan = 1 + Mathf.FloorToInt(spanLength / thickness * resolution);
+                float distance = spanLength / particlesInSpan;
+
+                for (int j = 0; j < particlesInSpan; ++j)
+                {
+                    float mu = path.GetMuAtLenght(upToSpanLength + distance * (j + 1));
+                    particlePositions.Add(path.points.GetPositionAtMu(path.Closed, mu));
+                    particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, mu));
+                    particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, mu)));
+                    particleFilters.Add(path.filters.GetAtMu(path.Closed, mu));
+                    particleColors.Add(path.colors.GetAtMu(path.Closed, mu));
+                }
+
+                // Create a particle group for each control point:
+                if (!(path.Closed && i == spans - 1))
+                {
+                    groups[i + 1].particleIndices.Clear();
+                    groups[i + 1].particleIndices.Add(particlePositions.Count - 1);
+                }
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)spans);
+            }
+
+            m_ActiveParticleCount = particlePositions.Count;
+            totalParticles = m_ActiveParticleCount + pooledParticles;
+
+            int numSegments = m_ActiveParticleCount - (path.Closed ? 0 : 1);
+            if (numSegments > 0)
+                m_InterParticleDistance = path.Length / (float)numSegments;
+            else
+                m_InterParticleDistance = 0;
+
+            positions = new Vector3[totalParticles];
+            restPositions = new Vector4[totalParticles];
+            velocities = new Vector3[totalParticles];
+            invMasses = new float[totalParticles];
+            principalRadii = new Vector3[totalParticles];
+            filters = new int[totalParticles];
+            colors = new Color[totalParticles];
+            restLengths = new float[totalParticles];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = particleInvMasses[i];
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                principalRadii[i] = Vector3.one * particleThicknesses[i] * thickness;
+                filters[i] = particleFilters[i];
+                colors[i] = particleColors[i];
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Deformable edges:
+            CreateDeformableEdges(numSegments);
+
+            // Create edge simplices:
+            CreateSimplices(numSegments);
+
+            //Create distance constraints for the total number of particles, but only activate for the used ones.
+            IEnumerator dc = CreateDistanceConstraints();
+
+            while (dc.MoveNext())
+                yield return dc.Current;
+
+            //Create bending constraints:
+            IEnumerator bc = CreateBendingConstraints();
+
+            while (bc.MoveNext())
+                yield return bc.Current;
+
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+
+            while (ac.MoveNext())
+                yield return ac.Current;
+
+            // Recalculate rest length:
+            m_RestLength = 0;
+            foreach (float length in restLengths)
+                m_RestLength += length;
+
+        }
+
+        protected virtual IEnumerator CreateDistanceConstraints()
+        {
+            distanceConstraintsData = new ObiDistanceConstraintsData();
+
+            // Add two batches: for even and odd constraints:
+            distanceConstraintsData.AddBatch(new ObiDistanceConstraintsBatch());
+            distanceConstraintsData.AddBatch(new ObiDistanceConstraintsBatch());
+
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+                var batch = distanceConstraintsData.batches[i % 2] as ObiDistanceConstraintsBatch;
+
+                if (i < m_ActiveParticleCount - 1)
+                {
+                    Vector2Int indices = new Vector2Int(i, i + 1);
+                    restLengths[i] = Vector3.Distance(positions[indices.x], positions[indices.y]);
+                    batch.AddConstraint(indices, restLengths[i]);
+                    batch.activeConstraintCount++;
+                }
+                else
+                {
+                    restLengths[i] = m_InterParticleDistance;
+                    batch.AddConstraint(Vector2Int.zero, 0);
+                }
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraint to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiDistanceConstraintsBatch();
+                distanceConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                restLengths[m_ActiveParticleCount - 2] = Vector3.Distance(positions[indices.x], positions[indices.y]);
+                loopClosingBatch.AddConstraint(indices, restLengths[m_ActiveParticleCount - 2]);
+                loopClosingBatch.activeConstraintCount++;
+            }
+
+        }
+
+        protected virtual IEnumerator CreateBendingConstraints()
+        {
+            bendConstraintsData = new ObiBendConstraintsData();
+
+            // Add three batches:
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+
+            for (int i = 0; i < totalParticles - 2; i++)
+            {
+                var batch = bendConstraintsData.batches[i % 3] as ObiBendConstraintsBatch;
+
+                Vector3Int indices = new Vector3Int(i, i + 2, i + 1);
+                float restBend = 0;//ObiUtils.RestBendingConstraint(restPositions[indices[0]], restPositions[indices[1]], restPositions[indices[2]]);
+                batch.AddConstraint(indices, restBend);
+
+                if (i < m_ActiveParticleCount - 2)
+                    batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating structural constraints...", i / (float)(totalParticles - 2));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiBendConstraintsBatch();
+                bendConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector3Int indices = new Vector3Int(m_ActiveParticleCount - 2, 0, m_ActiveParticleCount - 1);
+                loopClosingBatch.AddConstraint(indices, 0);
+                loopClosingBatch.activeConstraintCount++;
+
+                var loopClosingBatch2 = new ObiBendConstraintsBatch();
+                bendConstraintsData.AddBatch(loopClosingBatch2);
+
+                indices = new Vector3Int(m_ActiveParticleCount - 1, 1, 0);
+                loopClosingBatch2.AddConstraint(indices, 0);
+                loopClosingBatch2.activeConstraintCount++;
+            }
+        }
+
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta
new file mode 100644
index 00000000..cbe78e7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f7e67b5626124d0db9886e6cd2aacff
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
new file mode 100644
index 00000000..6e0cef36
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
@@ -0,0 +1,109 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+    public abstract class ObiRopeBlueprintBase : ObiActorBlueprint
+    {
+        [HideInInspector] [SerializeField] public ObiPath path = new ObiPath();
+        public float thickness = 0.1f;
+
+        [Range(0, 1)]
+        public float resolution = 1;
+
+        [HideInInspector] [SerializeField] protected float m_InterParticleDistance;
+        [HideInInspector] [SerializeField] protected int totalParticles;
+        [HideInInspector] [SerializeField] protected float m_RestLength;
+
+        [HideInInspector] public int[] deformableEdges = null;    /**< Indices of deformable edges (2 per edge)*/
+        [HideInInspector] public float[] restLengths;
+
+        public float interParticleDistance
+        {
+            get { return m_InterParticleDistance; }
+        }
+
+        public float restLength
+        {
+            get { return m_RestLength; }
+        }
+
+        public void OnEnable()
+        {
+            path.OnPathChanged.AddListener(GenerateImmediate);
+            path.OnControlPointAdded.AddListener(ControlPointAdded);
+            path.OnControlPointRemoved.AddListener(ControlPointRemoved);
+            path.OnControlPointRenamed.AddListener(ControlPointRenamed);
+        }
+
+        public void OnDisable()
+        {
+            path.OnPathChanged.RemoveAllListeners();
+            path.OnControlPointAdded.RemoveAllListeners();
+            path.OnControlPointRemoved.RemoveAllListeners();
+            path.OnControlPointRenamed.RemoveAllListeners();
+        }
+
+        protected void ControlPointAdded(int index)
+        {
+            var group = InsertNewParticleGroup(path.GetName(index), index);
+        }
+
+        protected void ControlPointRenamed(int index)
+        {
+            SetParticleGroupName(index, path.GetName(index));
+        }
+
+        protected void ControlPointRemoved(int index)
+        {
+            RemoveParticleGroupAt(index);
+        }
+
+        protected virtual IEnumerator CreateAerodynamicConstraints()
+        {
+            aerodynamicConstraintsData = new ObiAerodynamicConstraintsData();
+            var aeroBatch = new ObiAerodynamicConstraintsBatch();
+            aerodynamicConstraintsData.AddBatch(aeroBatch);
+
+            for (int i = 0; i < totalParticles; i++)
+            {
+                aeroBatch.AddConstraint(i, 2 * principalRadii[i].x, 1, 1);
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope generating aerodynamic constraints...", i / (float)totalParticles);
+            }
+
+            // Set initial amount of active constraints:
+            for (int i = 0; i < aerodynamicConstraintsData.batches.Count; ++i)
+            {
+                aerodynamicConstraintsData.batches[i].activeConstraintCount = m_ActiveParticleCount;
+            }
+        }
+
+        protected void CreateDeformableEdges(int numSegments)
+        {
+            deformableEdges = new int[numSegments * 2];
+            for (int i = 0; i < numSegments; ++i)
+            {
+                deformableEdges[i * 2] = i % totalParticles;
+                deformableEdges[i * 2 + 1] = (i + 1) % totalParticles;
+            }
+        }
+
+        protected void CreateSimplices(int numSegments)
+        {
+            edges = new int[numSegments * 2];
+            for (int i = 0; i < numSegments; ++i)
+            {
+                edges[i * 2] = i % totalParticles;
+                edges[i * 2 + 1] = (i + 1) % totalParticles;
+            }
+        }
+
+        protected override IEnumerator Initialize() { yield return null; }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta
new file mode 100644
index 00000000..06f453f1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4abe69b6abd2c4b0e8a621b8fba92dc9
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta
new file mode 100644
index 00000000..6c6b110c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: fa3e31464f45342fc90509e4fcb00976
+folderAsset: yes
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
new file mode 100644
index 00000000..be0c8eec
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
@@ -0,0 +1,52 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    [CreateAssetMenu(fileName = "rope section", menuName = "Obi/Rope Section", order = 142)]
+	public class ObiRopeSection : ScriptableObject
+	{
+		[HideInInspector] public List<Vector2> vertices;
+		public int snapX = 0;
+		public int snapY = 0;
+
+		public int Segments{
+			get{return vertices.Count-1;}
+		}
+
+		public void OnEnable(){
+
+			if (vertices == null){
+				vertices = new List<Vector2>();
+				CirclePreset(8);
+			}
+
+    	}
+
+		public void CirclePreset(int segments){
+
+			vertices.Clear();
+
+			for (int j = 0; j <= segments; ++j){
+				float angle = 2 * Mathf.PI / segments * j;
+				vertices.Add(Mathf.Cos(angle)*Vector2.right + Mathf.Sin(angle)*Vector2.up);
+			}
+		}
+
+		/**
+		 * Snaps a float value to the nearest multiple of snapInterval.
+		 */	
+		public static int SnapTo(float val, int snapInterval, int threshold){
+			int intVal = (int) val;	
+			if (snapInterval <= 0)
+				return intVal;
+			int under = Mathf.FloorToInt(val / snapInterval) * snapInterval;
+			int over = under + snapInterval;
+			if (intVal - under < threshold) return under;
+			if (over - intVal < threshold) return over;
+			return intVal;
+		}
+
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta
new file mode 100644
index 00000000..b1bd8cc9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ee7737c43f5734f87be9e49d1bbfba78
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: fdb742a900c8d453ea5ce5027e80ad00, type: 3}
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs
new file mode 100644
index 00000000..bffb6c47
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    // Abstracts rope topolgy as a list of elements.
+    [System.Serializable]
+    public class ObiStructuralElement
+    {
+        public int particle1;
+        public int particle2;
+        public float restLength;
+        public float constraintForce;
+        public float tearResistance;
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta
new file mode 100644
index 00000000..14c9910b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta
new file mode 100644
index 00000000..c6088756
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta
@@ -0,0 +1,8 @@
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+  userData: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta
new file mode 100644
index 00000000..a90531fa
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta
@@ -0,0 +1,8 @@
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+guid: 5172d3d605ca94f2db0ad73eaecbc4d4
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs
new file mode 100644
index 00000000..6b5aa938
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiColorDataChannel : ObiPathDataChannelIdentity<Color>
+    {
+        public ObiColorDataChannel() : base(new ObiColorInterpolator3D()) { }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta
new file mode 100644
index 00000000..3a4703ee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4078c779a63154dddac14f5a1e65a692
+MonoImporter:
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs
new file mode 100644
index 00000000..ab59bfe8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs
@@ -0,0 +1,10 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPhaseDataChannel : ObiPathDataChannelIdentity<int>
+    {
+        public ObiPhaseDataChannel() : base(new ObiConstantInterpolator()) { }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta
new file mode 100644
index 00000000..a5ebfe7a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs
new file mode 100644
index 00000000..ae56531d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiMassDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiMassDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta
new file mode 100644
index 00000000..ac806b9d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs
new file mode 100644
index 00000000..3fee9576
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNormalDataChannel : ObiPathDataChannelIdentity<Vector3>
+    {
+        public ObiNormalDataChannel() : base(new ObiCatmullRomInterpolator3D()) { }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta
new file mode 100644
index 00000000..7c99771e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4721087e73d0d422ab48ad62a2fd3d3b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs
new file mode 100644
index 00000000..584be6de
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs
@@ -0,0 +1,88 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IObiPathDataChannel
+    {
+        int Count { get; }
+        bool Dirty { get; }
+        void Clean();
+        void RemoveAt(int index);
+    }
+
+    public abstract class ObiPathDataChannel<T,U> : IObiPathDataChannel
+    {
+        protected ObiInterpolator<U> interpolator;
+        protected bool dirty = false;
+        public List<T> data = new List<T>();
+
+        public int Count
+        {
+            get { return data.Count; }
+        }
+
+        public bool Dirty
+        {
+            get { return dirty; }
+        }
+
+        public void Clean()
+        {
+            dirty = false;
+        }
+
+        public ObiPathDataChannel(ObiInterpolator<U> interpolator)
+        {
+            this.interpolator = interpolator;
+        }
+
+        public T this[int i]
+        {
+            get { return data[i]; }
+            set { data[i] = value; dirty = true; }
+        }
+
+        public void RemoveAt(int index)
+        {
+            data.RemoveAt(index);
+            dirty = true;
+        }
+
+        public U Evaluate(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.Evaluate(v0, v1, v2, v3, mu);
+        }
+        public U EvaluateFirstDerivative(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.EvaluateFirstDerivative(v0, v1, v2, v3, mu);
+        }
+        public U EvaluateSecondDerivative(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.EvaluateSecondDerivative(v0, v1, v2, v3, mu);
+        }
+
+        public int GetSpanCount(bool closed)
+        {
+            int cps = Count;
+            if (cps < 2)
+                return 0;
+
+            return closed ? cps : cps - 1;
+        }
+
+        public int GetSpanControlPointAtMu(bool closed, float mu, out float spanMu)
+        {
+
+            int spanCount = GetSpanCount(closed);
+            spanMu = mu * spanCount;
+            int i = (mu >= 1f) ? (spanCount - 1) : (int)spanMu;
+            spanMu -= i;
+
+            return i;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta
new file mode 100644
index 00000000..4f3af992
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 43ab47ea5c62b45248edce6a9d099626
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs
new file mode 100644
index 00000000..1148753d
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiPathDataChannelIdentity<T> : ObiPathDataChannel<T,T>
+    {
+        public ObiPathDataChannelIdentity(ObiInterpolator<T> interpolator) : base(interpolator)
+        {
+        }
+
+        public T GetFirstDerivative(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            return EvaluateFirstDerivative(this[index],
+                                           this[index],
+                                           this[nextCP],
+                                           this[nextCP], 0);
+        }
+
+        public T GetSecondDerivative(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            return EvaluateSecondDerivative(this[index],
+                                            this[index],
+                                            this[nextCP],
+                                            this[nextCP], 0);
+        }
+
+        public T GetAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return Evaluate(this[i],
+                                this[i],
+                                this[nextCP],
+                                this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get property in path because it has less than 2 control points.");
+            }
+        }
+
+        public T GetFirstDerivativeAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return EvaluateFirstDerivative(this[i],
+                                               this[i],
+                                               this[nextCP],
+                                               this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get derivative in path because it has less than 2 control points.");
+            }
+        }
+
+        public T GetSecondDerivativeAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return EvaluateSecondDerivative(this[i],
+                                                this[i],
+                                                this[nextCP],
+                                                this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get second derivative in path because it has less than 2 control points.");
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta
new file mode 100644
index 00000000..9093cc6e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta
@@ -0,0 +1,11 @@
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+guid: 61b5c82c04eb14f1999e94baa1f073bc
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
new file mode 100644
index 00000000..1aba7db1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
@@ -0,0 +1,124 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPointsDataChannel : ObiPathDataChannel<ObiWingedPoint, Vector3>
+    {
+
+        public ObiPointsDataChannel() : base(new ObiCatmullRomInterpolator3D()) { }
+
+        public Vector3 GetTangent(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            var wp1 = this[index];
+            var wp2 = this[nextCP];
+
+            return EvaluateFirstDerivative(wp1.position,
+                                           wp1.outTangentEndpoint,
+                                           wp2.inTangentEndpoint,
+                                           wp2.position, 0);
+        }
+
+        public Vector3 GetAcceleration(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            var wp1 = this[index];
+            var wp2 = this[nextCP];
+
+            return EvaluateSecondDerivative(wp1.position,
+                                            wp1.outTangentEndpoint,
+                                            wp2.inTangentEndpoint,
+                                            wp2.position, 0);
+        }
+
+        /**
+        * Returns spline position at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetPositionAtMu(bool closed,float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return Evaluate(wp1.position,
+                                wp1.outTangentEndpoint,
+                                wp2.inTangentEndpoint,
+                                wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get position in path because it has zero control points.");
+            }
+        }
+
+        /**
+        * Returns normal tangent vector at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetTangentAtMu(bool closed, float mu)
+        {
+
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return EvaluateFirstDerivative(wp1.position,
+                                               wp1.outTangentEndpoint,
+                                               wp2.inTangentEndpoint,
+                                               wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get derivative in path because it has less than 2 control points.");
+            }
+        }
+
+        /**
+        * Returns acceleration at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetAccelerationAtMu(bool closed, float mu)
+        {
+
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return EvaluateSecondDerivative(wp1.position,
+                                                wp1.outTangentEndpoint,
+                                                wp2.inTangentEndpoint,
+                                                wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get second derivative in path because it has less than 2 control points.");
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta
new file mode 100644
index 00000000..5cec3280
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d710ff448ae4e4a6f9351a678af9a8ac
+MonoImporter:
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+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs
new file mode 100644
index 00000000..e26ff82a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiRotationalMassDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiRotationalMassDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta
new file mode 100644
index 00000000..9b1a75ce
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs
new file mode 100644
index 00000000..80e90dbe
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiThicknessDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiThicknessDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta
new file mode 100644
index 00000000..81e98c4b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta
@@ -0,0 +1,11 @@
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+guid: b414fbc6ce2db42299dc01619ed4fc97
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta
new file mode 100644
index 00000000..0d67e6f4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs
new file mode 100644
index 00000000..a15ba18a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiCatmullRomInterpolator : ObiInterpolator<float>
+    {
+        /**
+        * 1D bezier spline interpolation
+        */
+        public float Evaluate(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return imu * imu * imu * y0 +
+                3f * imu * imu * mu * y1 +
+                3f * imu * mu * mu * y2 +
+                mu * mu * mu * y3;
+
+        }
+
+        /**
+        * 1D catmull rom spline second derivative
+        */
+        public float EvaluateFirstDerivative(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return 3f * imu * imu * (y1 - y0) +
+                    6f * imu * mu * (y2 - y1) +
+                    3f * mu * mu * (y3 - y2);
+
+        }
+
+
+        /**
+        * 1D catmull rom spline second derivative
+        */
+        public float EvaluateSecondDerivative(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return 3f * imu * imu * (y1 - y0) +
+                    6f * imu * mu * (y2 - y1) +
+                    3f * mu * mu * (y3 - y2);
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta
new file mode 100644
index 00000000..dfd028c1
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs
new file mode 100644
index 00000000..68bf48c6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs
@@ -0,0 +1,46 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiCatmullRomInterpolator3D : ObiInterpolator<Vector3>
+    {
+        private ObiCatmullRomInterpolator interpolator = new ObiCatmullRomInterpolator();
+
+        /**
+        * 3D spline interpolation
+        */
+        public Vector3 Evaluate(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.Evaluate(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.Evaluate(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.Evaluate(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+
+        /**
+        * 3D spline first derivative
+        */
+        public Vector3 EvaluateFirstDerivative(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.EvaluateFirstDerivative(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.EvaluateFirstDerivative(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.EvaluateFirstDerivative(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+
+        /**
+        * 3D spline second derivative
+        */
+        public Vector3 EvaluateSecondDerivative(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.EvaluateSecondDerivative(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.EvaluateSecondDerivative(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.EvaluateSecondDerivative(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta
new file mode 100644
index 00000000..7d9398e2
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta
@@ -0,0 +1,11 @@
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs
new file mode 100644
index 00000000..4f7b7f48
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiColorInterpolator3D : ObiInterpolator<Color>
+    {
+        private ObiCatmullRomInterpolator interpolator = new ObiCatmullRomInterpolator();
+
+        /**
+        * 3D spline interpolation
+        */
+        public Color Evaluate(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.Evaluate(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.Evaluate(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.Evaluate(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.Evaluate(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+
+        /**
+        * 3D spline first derivative
+        */
+        public Color EvaluateFirstDerivative(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.EvaluateFirstDerivative(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.EvaluateFirstDerivative(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.EvaluateFirstDerivative(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.EvaluateFirstDerivative(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+
+        /**
+        * 3D spline second derivative
+        */
+        public Color EvaluateSecondDerivative(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.EvaluateSecondDerivative(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.EvaluateSecondDerivative(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.EvaluateSecondDerivative(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.EvaluateSecondDerivative(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta
new file mode 100644
index 00000000..c100772a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1c2bda61c040346db8efd82f64c2422e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs
new file mode 100644
index 00000000..e404e94c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs
@@ -0,0 +1,33 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiConstantInterpolator : ObiInterpolator<int>
+    {
+        /**
+        * constant interpolator
+        */
+        public int Evaluate(int y0, int y1, int y2, int y3, float mu)
+        {
+            return mu < 0.5f ? y1 : y2;
+        }
+
+        /**
+        * derivative of constant value:
+        */
+        public int EvaluateFirstDerivative(int y0, int y1, int y2, int y3, float mu)
+        {
+            return 0;
+        }
+
+
+        /**
+        * second derivative of constant value:
+        */
+        public int EvaluateSecondDerivative(int y0, int y1, int y2, int y3, float mu)
+        {
+            return 0;
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta
new file mode 100644
index 00000000..a4c14046
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 33f10aef9ed544b14a762a9c6e8bf411
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs
new file mode 100644
index 00000000..1e03c33b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    
+    public interface ObiInterpolator<T>
+    {
+        T Evaluate(T v0, T v1, T v2, T v3, float mu);
+        T EvaluateFirstDerivative(T v0, T v1, T v2, T v3, float mu);
+        T EvaluateSecondDerivative(T v0, T v1, T v2, T v3, float mu);
+    }
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta
new file mode 100644
index 00000000..47fd4966
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: af25f2a4d723548bfafa551b6da56d25
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs
new file mode 100644
index 00000000..6d5bb0b0
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs
@@ -0,0 +1,408 @@
+using UnityEngine;
+using UnityEngine.Events;
+using System;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine.Serialization;
+
+namespace Obi
+{
+    [System.Serializable]
+    public class PathControlPointEvent : UnityEvent<int>
+    {
+    }
+
+    [Serializable]
+    public class ObiPath
+    {
+        [HideInInspector] [SerializeField] List<string> m_Names = new List<string>(); 
+        [HideInInspector] [SerializeField] public ObiPointsDataChannel m_Points = new ObiPointsDataChannel();
+        [HideInInspector] [SerializeField] ObiNormalDataChannel m_Normals = new ObiNormalDataChannel();
+        [HideInInspector] [SerializeField] ObiColorDataChannel m_Colors = new ObiColorDataChannel();
+        [HideInInspector] [SerializeField] ObiThicknessDataChannel m_Thickness = new ObiThicknessDataChannel();
+        [HideInInspector] [SerializeField] ObiMassDataChannel m_Masses = new ObiMassDataChannel();
+        [HideInInspector] [SerializeField] ObiRotationalMassDataChannel m_RotationalMasses = new ObiRotationalMassDataChannel();
+
+        [FormerlySerializedAs("m_Phases")]
+        [HideInInspector] [SerializeField] ObiPhaseDataChannel m_Filters = new ObiPhaseDataChannel();
+
+        [HideInInspector] [SerializeField] private bool m_Closed = false;
+
+        protected bool dirty = false;
+        protected const int arcLenghtSamples = 20;
+        [HideInInspector] [SerializeField] protected List<float> m_ArcLengthTable = new List<float>();
+        [HideInInspector] [SerializeField] protected float m_TotalSplineLenght = 0.0f;
+
+        public UnityEvent OnPathChanged = new UnityEvent();
+        public PathControlPointEvent OnControlPointAdded = new PathControlPointEvent();
+        public PathControlPointEvent OnControlPointRemoved = new PathControlPointEvent();
+        public PathControlPointEvent OnControlPointRenamed = new PathControlPointEvent();
+
+        private IEnumerable<IObiPathDataChannel> GetDataChannels()
+        {
+            yield return m_Points;
+            yield return m_Normals;
+            yield return m_Colors;
+            yield return m_Thickness;
+            yield return m_Masses;
+            yield return m_RotationalMasses;
+            yield return m_Filters;
+        }
+
+        public ObiPointsDataChannel points { get { return m_Points; }}
+        public ObiNormalDataChannel normals { get { return m_Normals; } }
+        public ObiColorDataChannel colors { get { return m_Colors; } }
+        public ObiThicknessDataChannel thicknesses { get { return m_Thickness; } }
+        public ObiMassDataChannel masses { get { return m_Masses; } }
+        public ObiRotationalMassDataChannel rotationalMasses { get { return m_RotationalMasses; } }
+        public ObiPhaseDataChannel filters { get { return m_Filters; } }
+
+        public ReadOnlyCollection<float> ArcLengthTable
+        {
+            get { return m_ArcLengthTable.AsReadOnly(); }
+        }
+
+        public float Length
+        {
+            get { return m_TotalSplineLenght; }
+        }
+
+        public int ArcLengthSamples
+        {
+            get { return arcLenghtSamples; }
+        }
+
+        public int ControlPointCount
+        {
+            get { return m_Points.Count;}
+        }
+
+        public bool Closed
+        {
+            get { return m_Closed; }
+            set
+            {
+                if (value != m_Closed)
+                {
+                    m_Closed = value;
+                    dirty = true;
+                }
+            }
+        }
+
+        public int GetSpanCount()
+        {
+            return m_Points.GetSpanCount(m_Closed);
+        }
+
+        public int GetSpanControlPointForMu(float mu, out float spanMu)
+        {
+            return m_Points.GetSpanControlPointAtMu(m_Closed, mu, out spanMu);
+        }
+
+        public int GetClosestControlPointIndex(float mu)
+        {
+            float spanMu;
+            int cp = GetSpanControlPointForMu(mu, out spanMu);
+
+            if (spanMu > 0.5f)
+                return (cp + 1) % ControlPointCount;
+            else
+                return cp % ControlPointCount;
+        }
+
+        /**
+         * Returns the curve parameter (mu) at a certain length of the curve, using linear interpolation
+         * of the values cached in arcLengthTable.
+         */
+        public float GetMuAtLenght(float length)
+        {
+            if (length <= 0) return 0;
+            if (length >= m_TotalSplineLenght) return 1;
+
+            int i;
+            for (i = 1; i < m_ArcLengthTable.Count; ++i)
+            {
+                if (length < m_ArcLengthTable[i]) break;
+            }
+
+            float prevMu = (i - 1) / (float)(m_ArcLengthTable.Count - 1);
+            float nextMu = i / (float)(m_ArcLengthTable.Count - 1);
+
+            float s = (length - m_ArcLengthTable[i - 1]) / (m_ArcLengthTable[i] - m_ArcLengthTable[i - 1]);
+
+            return prevMu + (nextMu - prevMu) * s;
+        }
+
+        /**
+         * Recalculates spline arc lenght in world space using Gauss-Lobatto adaptive integration. 
+         * @param acc minimum accuray desired (eg 0.00001f)
+         * @param maxevals maximum number of spline evaluations we want to allow per segment.
+         */
+        public float RecalculateLenght(Matrix4x4 referenceFrame, float acc, int maxevals)
+        {
+            if (referenceFrame == null) 
+            { 
+                m_TotalSplineLenght = 0;
+                return 0;
+            }
+
+            m_TotalSplineLenght = 0.0f;
+            m_ArcLengthTable.Clear();
+            m_ArcLengthTable.Add(0);
+
+            float step = 1 / (float)(arcLenghtSamples + 1);
+            int controlPoints = ControlPointCount;
+
+            if (controlPoints >= 2)
+            {
+
+                int spans = GetSpanCount();
+
+                for (int cp = 0; cp < spans; ++cp)
+                {
+                    int nextCP = (cp + 1) % controlPoints;
+                    var wp1 = m_Points[cp];
+                    var wp2 = m_Points[nextCP];
+
+                    Vector3 _p  = referenceFrame.MultiplyPoint3x4(wp1.position);
+                    Vector3 p   = referenceFrame.MultiplyPoint3x4(wp1.outTangentEndpoint);
+                    Vector3 p_  = referenceFrame.MultiplyPoint3x4(wp2.inTangentEndpoint);
+                    Vector3 p__ = referenceFrame.MultiplyPoint3x4(wp2.position);
+
+                    for (int i = 0; i <= Mathf.Max(1, arcLenghtSamples); ++i)
+                    {
+
+                        float a = i * step;
+                        float b = (i + 1) * step;
+
+                        float segmentLength = GaussLobattoIntegrationStep(_p, p, p_, p__, a, b,
+                                                                          m_Points.EvaluateFirstDerivative(_p, p, p_, p__, a).magnitude,
+                                                                          m_Points.EvaluateFirstDerivative(_p, p, p_, p__, b).magnitude, 0, maxevals, acc);
+
+                        m_TotalSplineLenght += segmentLength;
+
+                        m_ArcLengthTable.Add(m_TotalSplineLenght);
+
+                    }
+
+                }
+            }
+            else
+            {
+                Debug.LogWarning("A path needs at least 2 control points to be defined.");
+            }
+
+            return m_TotalSplineLenght;
+        }
+
+        /**
+         * One step of the adaptive integration method using Gauss-Lobatto quadrature.
+         * Takes advantage of the fact that the arc lenght of a vector function is equal to the
+         * integral of the magnitude of first derivative.
+         */
+        private float GaussLobattoIntegrationStep(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4,
+                                                  float a, float b,
+                                                  float fa, float fb, int nevals, int maxevals, float acc)
+        {
+
+            if (nevals >= maxevals) return 0;
+
+            // Constants used in the algorithm
+            float alpha = Mathf.Sqrt(2.0f / 3.0f);
+            float beta = 1.0f / Mathf.Sqrt(5.0f);
+
+            // Here the abcissa points and function values for both the 4-point
+            // and the 7-point rule are calculated (the points at the end of
+            // interval come from the function call, i.e., fa and fb. Also note
+            // the 7-point rule re-uses all the points of the 4-point rule.)
+            float h = (b - a) / 2;
+            float m = (a + b) / 2;
+
+            float mll = m - alpha * h;
+            float ml = m - beta * h;
+            float mr = m + beta * h;
+            float mrr = m + alpha * h;
+            nevals += 5;
+
+            float fmll = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mll).magnitude;
+            float fml = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, ml).magnitude;
+            float fm = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, m).magnitude;
+            float fmr = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mr).magnitude;
+            float fmrr = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mrr).magnitude;
+
+            // Both the 4-point and 7-point rule integrals are evaluted
+            float integral4 = (h / 6) * (fa + fb + 5 * (fml + fmr));
+            float integral7 = (h / 1470) * (77 * (fa + fb) + 432 * (fmll + fmrr) + 625 * (fml + fmr) + 672 * fm);
+
+            // The difference betwen the 4-point and 7-point integrals is the
+            // estimate of the accuracy
+
+            if ((integral4 - integral7) < acc || mll <= a || b <= mrr)
+            {
+                if (!(m > a && b > m))
+                {
+                    Debug.LogError("Spline integration reached an interval with no more machine numbers");
+                }
+                return integral7;
+            }
+            else
+            {
+                return GaussLobattoIntegrationStep(p1, p2, p3, p4, a, mll, fa, fmll, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mll, ml, fmll, fml, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, ml, m, fml, fm, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, m, mr, fm, fmr, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mr, mrr, fmr, fmrr, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mrr, b, fmrr, fb, nevals, maxevals, acc);
+
+            }
+        }
+
+        public void SetName(int index, string name)
+        {
+            m_Names[index] = name;
+            if (OnControlPointRenamed != null)
+                OnControlPointRenamed.Invoke(index);
+            dirty = true;
+        }
+
+        public string GetName(int index)
+        {
+            return m_Names[index];
+        }
+
+        public void AddControlPoint(Vector3 position, Vector3 inTangentVector, Vector3 outTangentVector, Vector3 normal, float mass, float rotationalMass, float thickness, int filter, Color color, string name)
+        {
+            InsertControlPoint(ControlPointCount, position, inTangentVector, outTangentVector, normal,  mass, rotationalMass, thickness, filter, color, name);
+        }
+
+        public void InsertControlPoint(int index, Vector3 position, Vector3 inTangentVector, Vector3 outTangentVector, Vector3 normal, float mass, float rotationalMass, float thickness, int filter, Color color, string name)
+        {
+            m_Points.data.Insert(index, new ObiWingedPoint(inTangentVector,position,outTangentVector));
+            m_Colors.data.Insert(index, color);
+            m_Normals.data.Insert(index, normal);
+            m_Thickness.data.Insert(index, thickness);
+            m_Masses.data.Insert(index, mass);
+            m_RotationalMasses.data.Insert(index, rotationalMass);
+            m_Filters.data.Insert(index, filter);
+            m_Names.Insert(index,name);
+
+            if (OnControlPointAdded != null)
+                OnControlPointAdded.Invoke(index);
+
+            dirty = true;
+        }
+
+        public int InsertControlPoint(float mu)
+        {
+
+            int controlPoints = ControlPointCount;
+            if (controlPoints >= 2)
+            {
+
+                if (!System.Single.IsNaN(mu))
+                {
+
+                    float p;
+                    int i = GetSpanControlPointForMu(mu, out p);
+
+                    int next = (i + 1) % controlPoints;
+
+                    var wp1 = m_Points[i];
+                    var wp2 = m_Points[next];
+
+                    Vector3 P0_1 = (1 - p) * wp1.position + p * wp1.outTangentEndpoint;
+                    Vector3 P1_2 = (1 - p) * wp1.outTangentEndpoint + p * wp2.inTangentEndpoint;
+                    Vector3 P2_3 = (1 - p) * wp2.inTangentEndpoint + p * wp2.position;
+
+                    Vector3 P01_12 = (1 - p) * P0_1 + p * P1_2;
+                    Vector3 P12_23 = (1 - p) * P1_2 + p * P2_3;
+
+                    Vector3 P0112_1223 = (1 - p) * P01_12 + p * P12_23;
+
+                    wp1.SetOutTangentEndpoint(P0_1);
+                    wp2.SetInTangentEndpoint(P2_3);
+
+                    m_Points[i] = wp1;
+                    m_Points[next] = wp2;
+
+                    Color color = m_Colors.Evaluate(m_Colors[i],
+                                                    m_Colors[i],
+                                                    m_Colors[next],
+                                                    m_Colors[next], p);
+
+                    Vector3 normal = m_Normals.Evaluate(m_Normals[i],
+                                                        m_Normals[i],
+                                                        m_Normals[next],
+                                                        m_Normals[next], p);
+
+                    float thickness = m_Thickness.Evaluate(m_Thickness[i],
+                                                           m_Thickness[i],
+                                                           m_Thickness[next],
+                                                           m_Thickness[next], p);
+
+                    float mass = m_Masses.Evaluate(m_Masses[i],
+                                                   m_Masses[i],
+                                                   m_Masses[next],
+                                                   m_Masses[next], p);
+
+                    float rotationalMass = m_RotationalMasses.Evaluate(m_RotationalMasses[i],
+                                                                       m_RotationalMasses[i],
+                                                                       m_RotationalMasses[next],
+                                                                       m_RotationalMasses[next], p);
+
+                    int filter = m_Filters.Evaluate(m_Filters[i],
+                                                    m_Filters[i],
+                                                    m_Filters[next],
+                                                    m_Filters[next], p);
+
+                    InsertControlPoint(i + 1, P0112_1223, P01_12 - P0112_1223, P12_23 - P0112_1223, normal, mass,rotationalMass, thickness, filter, color, GetName(i));
+
+                    return i + 1;
+                }
+            }
+            return -1;
+
+        }
+
+        public void Clear()
+        {
+            for (int i = ControlPointCount-1; i >= 0; --i)
+                RemoveControlPoint(i);
+
+            m_TotalSplineLenght = 0.0f;
+            m_ArcLengthTable.Clear();
+            m_ArcLengthTable.Add(0);
+        }
+
+        public void RemoveControlPoint(int index)
+        {
+            foreach (var channel in GetDataChannels())
+                channel.RemoveAt(index);
+
+            m_Names.RemoveAt(index);
+
+            if (OnControlPointRemoved != null)
+                OnControlPointRemoved.Invoke(index);
+
+            dirty = true;
+        }
+
+        public void FlushEvents()
+        {
+            bool isDirty = dirty;
+            foreach (var channel in GetDataChannels())
+            {
+                isDirty |= channel.Dirty;
+                channel.Clean(); 
+            }
+
+            if (OnPathChanged != null && isDirty)
+            {
+                dirty = false;
+                OnPathChanged.Invoke();
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta
new file mode 100644
index 00000000..8236881b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ee1575a4e45ef4a8ebafa0e5e2e51da5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
new file mode 100644
index 00000000..38377d46
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
@@ -0,0 +1,170 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+	public struct ObiPathFrame
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2
+        }
+
+        public static ObiPathFrame Identity => new ObiPathFrame(Vector3.zero, Vector3.forward, Vector3.up, Vector3.right, Color.white, 0);
+
+        public Vector3 position;
+
+        public Vector3 tangent;
+        public Vector3 normal;
+        public Vector3 binormal;
+
+		public Vector4 color;
+        public float thickness;
+       
+        public ObiPathFrame(Vector3 position, Vector3 tangent, Vector3 normal, Vector3 binormal, Vector4 color, float thickness){
+			this.position = position;
+			this.normal = normal;
+			this.tangent = tangent;
+            this.binormal = binormal;
+			this.color = color;
+            this.thickness = thickness;
+        }
+
+        public void Reset()
+        {
+            position = Vector3.zero;
+            tangent = Vector3.forward;
+            normal = Vector3.up;
+            binormal = Vector3.right;
+            color = Color.white;
+            thickness = 0;
+        }
+
+		public static ObiPathFrame operator +(ObiPathFrame c1, ObiPathFrame c2) 
+	    {
+            return new ObiPathFrame(c1.position + c2.position,c1.tangent + c2.tangent,c1.normal + c2.normal,c1.binormal + c2.binormal,c1.color + c2.color, c1.thickness + c2.thickness);
+	    }
+
+		public static ObiPathFrame operator *(float f,ObiPathFrame c) 
+	    {
+            return new ObiPathFrame(c.position * f, c.tangent * f, c.normal * f, c.binormal * f,c.color * f, c.thickness * f);
+	    }
+
+        public static void WeightedSum(float w1, float w2, float w3, in ObiPathFrame c1, in ObiPathFrame c2, in ObiPathFrame c3, ref ObiPathFrame sum)
+        {
+            sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
+            sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
+            sum.position.z = c1.position.z * w1 + c2.position.z * w2 + c3.position.z * w3;
+
+            sum.tangent.x = c1.tangent.x * w1 + c2.tangent.x * w2 + c3.tangent.x * w3;
+            sum.tangent.y = c1.tangent.y * w1 + c2.tangent.y * w2 + c3.tangent.y * w3;
+            sum.tangent.z = c1.tangent.z * w1 + c2.tangent.z * w2 + c3.tangent.z * w3;
+
+            sum.normal.x = c1.normal.x * w1 + c2.normal.x * w2 + c3.normal.x * w3;
+            sum.normal.y = c1.normal.y * w1 + c2.normal.y * w2 + c3.normal.y * w3;
+            sum.normal.z = c1.normal.z * w1 + c2.normal.z * w2 + c3.normal.z * w3;
+
+            sum.binormal.x = c1.binormal.x * w1 + c2.binormal.x * w2 + c3.binormal.x * w3;
+            sum.binormal.y = c1.binormal.y * w1 + c2.binormal.y * w2 + c3.binormal.y * w3;
+            sum.binormal.z = c1.binormal.z * w1 + c2.binormal.z * w2 + c3.binormal.z * w3;
+
+            sum.color.x = c1.color.x * w1 + c2.color.x * w2 + c3.color.x * w3;
+            sum.color.y = c1.color.y * w1 + c2.color.y * w2 + c3.color.y * w3;
+            sum.color.z = c1.color.z * w1 + c2.color.z * w2 + c3.color.z * w3;
+            sum.color.w = c1.color.w * w1 + c2.color.w * w2 + c3.color.w * w3;
+
+            sum.thickness = c1.thickness * w1 + c2.thickness * w2 + c3.thickness * w3;
+        }
+
+        public void SetTwist(float twist)
+        {
+            Quaternion twistQ = Quaternion.AngleAxis(twist, tangent);
+            normal = twistQ * normal;
+            binormal = twistQ * binormal;
+        }
+
+        public void SetTwistAndTangent(float twist, Vector3 tangent)
+        {
+            this.tangent = tangent;
+            normal = new Vector3(tangent.y, tangent.x, 0).normalized;
+            binormal = Vector3.Cross(normal, tangent);
+
+            Quaternion twistQ = Quaternion.AngleAxis(twist, tangent);
+            normal = twistQ * normal;
+            binormal = twistQ * binormal;
+        }
+
+        public void Transport(ObiPathFrame frame, float twist)
+        {
+            // Calculate delta rotation:
+            Quaternion rotQ = Quaternion.FromToRotation(tangent, frame.tangent);
+            Quaternion twistQ = Quaternion.AngleAxis(twist, frame.tangent);
+            Quaternion finalQ = twistQ * rotQ;
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = finalQ * normal;
+            binormal = finalQ * binormal;
+            tangent = frame.tangent;
+            position = frame.position;
+            thickness = frame.thickness;
+            color = frame.color;
+        }
+
+        public void Transport(Vector3 newPosition, Vector3 newTangent, float twist)
+        {
+            // Calculate delta rotation:
+            Quaternion rotQ = Quaternion.FromToRotation(tangent, newTangent);
+            Quaternion twistQ = Quaternion.AngleAxis(twist, newTangent);
+            Quaternion finalQ = twistQ * rotQ;
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = finalQ * normal;
+            binormal = finalQ * binormal;
+            tangent = newTangent;
+            position = newPosition;
+
+        }
+
+        // Transport, hinting the normal.
+        public void Transport(Vector3 newPosition, Vector3 newTangent, Vector3 newNormal, float twist)
+        {
+            normal = Quaternion.AngleAxis(twist, newTangent) * newNormal;
+            tangent = newTangent;
+            binormal = Vector3.Cross(normal, tangent);
+            position = newPosition;
+        }
+
+        public Matrix4x4 ToMatrix(Axis mainAxis)
+        {
+            Matrix4x4 basis = new Matrix4x4();
+
+            int xo = ((int)mainAxis) % 3 * 4;
+            int yo = ((int)mainAxis + 1) % 3 * 4;
+            int zo = ((int)mainAxis + 2) % 3 * 4;
+
+            basis[xo]     = tangent[0];
+            basis[xo + 1] = tangent[1];
+            basis[xo + 2] = tangent[2];
+
+            basis[yo]     = binormal[0];
+            basis[yo + 1] = binormal[1];
+            basis[yo + 2] = binormal[2];
+
+            basis[zo]     = normal[0];
+            basis[zo + 1] = normal[1];
+            basis[zo + 2] = normal[2];
+
+            return basis;
+        }
+
+        public void DebugDraw(float size)
+        {
+            Debug.DrawRay(position, binormal * size, Color.red);
+            Debug.DrawRay(position, normal * size, Color.green);
+            Debug.DrawRay(position, tangent * size, Color.blue);
+        }
+	}
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta
new file mode 100644
index 00000000..b02d82d4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 237e9ecf813f646fd8502768445f4ab6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
new file mode 100644
index 00000000..1251981a
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
@@ -0,0 +1,101 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiRopeBase))]
+    public class ObiPathSmoother : MonoBehaviour, ObiActorRenderer<ObiPathSmoother>
+    {
+        [Range(0, 1)]
+        [Tooltip("Curvature threshold below which the path will be decimated. A value of 0 won't apply any decimation. As you increase the value, decimation will become more aggresive.")]
+        public float decimation = 0;
+
+        [Range(0, 3)]
+        [Tooltip("Smoothing iterations applied to the path. A smoothing value of 0 won't perform any smoothing at all. Note that smoothing is applied after decimation.")]
+        public uint smoothing = 0;
+
+        [Tooltip("Twist in degrees applied to each sucessive path section.")]
+        public float twist = 0;
+
+        public ObiActor actor { get; private set; }
+
+        [HideInInspector] public int indexInSystem = 0;
+
+        public float SmoothLength
+        {
+            get
+            {
+                if (actor.isLoaded)
+                {
+                    var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                    if (system != null)
+                        return system.GetSmoothLength(indexInSystem);
+                }
+                return 0;
+            }
+        }
+
+        public float SmoothSections
+        {
+            get {
+                if (actor.isLoaded)
+                {
+                    var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                    if (system != null)
+                        return system.GetSmoothFrameCount(indexInSystem);
+                }
+                return 0;
+            }
+        }
+
+        public void OnEnable()
+        {
+            actor = GetComponent<ObiActor>();
+            ((ObiActorRenderer<ObiPathSmoother>)this).EnableRenderer();
+        }
+
+        private void OnDisable()
+        {
+            ((ObiActorRenderer<ObiPathSmoother>)this).DisableRenderer();
+        }
+
+        private void OnValidate()
+        {
+            ((ObiActorRenderer<ObiPathSmoother>)this).SetRendererDirty(Oni.RenderingSystemType.AllSmoothedRopes);
+        }
+
+        public ObiPathFrame GetSectionAt(float mu)
+        {
+            if (actor.isLoaded)
+            {
+                var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                if (system != null)
+                    return system.GetFrameAt(indexInSystem, mu);
+            }
+
+            return ObiPathFrame.Identity;
+        }
+
+        RenderSystem<ObiPathSmoother> ObiRenderer<ObiPathSmoother>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstPathSmootherRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputePathSmootherRenderSystem(solver);
+                    return null;
+
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
new file mode 100644
index 00000000..bbfec3df
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs
new file mode 100644
index 00000000..f3d37db8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs
@@ -0,0 +1,100 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public struct ObiWingedPoint
+    {
+        public enum TangentMode
+        {
+            Aligned,
+            Mirrored,
+            Free,
+        }
+
+        public TangentMode tangentMode;
+        public Vector3 inTangent;
+        public Vector3 position;
+        public Vector3 outTangent;
+
+        public Vector3 inTangentEndpoint
+        {
+            get { return position + inTangent; }
+        }
+
+        public Vector3 outTangentEndpoint
+        {
+            get { return position + outTangent; }
+        }
+
+        public ObiWingedPoint(Vector3 inTangent, Vector3 point, Vector3 outTangent)
+        {
+            this.tangentMode = TangentMode.Aligned;
+            this.inTangent = inTangent;
+            this.position = point;
+            this.outTangent = outTangent;
+        }
+
+        public void SetInTangentEndpoint(Vector3 value)
+        {
+            Vector3 newTangent = value - position;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: outTangent = -newTangent; break;
+                case TangentMode.Aligned: outTangent = -newTangent.normalized * outTangent.magnitude; break;
+            }
+
+            inTangent = newTangent;
+        }
+
+        public void SetOutTangentEndpoint(Vector3 value)
+        {
+            Vector3 newTangent = value - position;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: inTangent = -newTangent; break;
+                case TangentMode.Aligned: inTangent = -newTangent.normalized * inTangent.magnitude; break;
+            }
+
+            outTangent = newTangent;
+        }
+
+        public void SetInTangent(Vector3 value)
+        {
+            Vector3 newTangent = value;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: outTangent = -newTangent; break;
+                case TangentMode.Aligned: outTangent = -newTangent.normalized * outTangent.magnitude; break;
+            }
+
+            inTangent = newTangent;
+        }
+
+        public void SetOutTangent(Vector3 value)
+        {
+            Vector3 newTangent = value;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: inTangent = -newTangent; break;
+                case TangentMode.Aligned: inTangent = -newTangent.normalized * inTangent.magnitude; break;
+            }
+
+            outTangent = newTangent;
+        }
+
+        public void Transform(Vector3 translation, Quaternion rotation, Vector3 scale)
+        {
+            position += translation;
+            inTangent = rotation * Vector3.Scale(inTangent, scale);
+            outTangent = rotation * Vector3.Scale(outTangent, scale);
+        }
+    }
+
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta
new file mode 100644
index 00000000..dd0c6fcd
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering.meta
new file mode 100644
index 00000000..30985468
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 07dfc7e6a316349cba9d3b434f09ee68
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs
new file mode 100644
index 00000000..eb6d1bf8
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs
@@ -0,0 +1,216 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ChainRendererData
+    {
+        public int modifierOffset;
+        public float twistAnchor;
+        public float twist;
+        public uint usesOrientedParticles;
+
+        public Vector4 scale;
+
+        public ChainRendererData(int modifierOffset, float twistAnchor, float twist, Vector3 scale, bool usesOrientedParticles)
+        {
+            this.modifierOffset = modifierOffset;
+            this.twistAnchor = twistAnchor;
+            this.twist = twist;
+            this.usesOrientedParticles = (uint)(usesOrientedParticles ? 1 : 0);
+            this.scale = scale;
+        }
+    }
+
+    public abstract class ObiChainRopeRenderSystem : RenderSystem<ObiRopeChainRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.ChainRope; }
+
+        public RendererSet<ObiRopeChainRenderer> renderers { get; } = new RendererSet<ObiRopeChainRenderer>();
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupChainRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ChainRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected List<InstancedRenderBatch> batchList = new List<InstancedRenderBatch>();
+
+        protected ObiNativeList<ChainRendererData> rendererData;
+        protected ObiNativeList<ChunkData> chunkData;
+        protected ObiNativeList<ObiRopeChainRenderer.LinkModifier> modifiers;
+
+        protected ObiNativeList<Vector2Int> elements;
+        protected ObiNativeList<Matrix4x4> instanceTransforms;
+        protected ObiNativeList<Matrix4x4> invInstanceTransforms;
+        protected ObiNativeList<Vector4> instanceColors;
+
+        public ObiChainRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+        }
+
+        public virtual void Dispose()
+        {
+            CleanupBatches();
+            DestroyLists();
+        }
+
+        private void DestroyLists()
+        {
+            if (instanceTransforms != null)
+                instanceTransforms.Dispose();
+            if (invInstanceTransforms != null)
+                invInstanceTransforms.Dispose();
+            if (instanceColors != null)
+                instanceColors.Dispose();
+
+            if (elements != null)
+                elements.Dispose();
+            if (chunkData != null)
+                chunkData.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (modifiers != null)
+                modifiers.Dispose();
+        }
+
+        private void CreateListsIfNecessary()
+        {
+            DestroyLists();
+
+            instanceTransforms = new ObiNativeList<Matrix4x4>();
+            invInstanceTransforms = new ObiNativeList<Matrix4x4>();
+            instanceColors = new ObiNativeList<Vector4>();
+            elements = new ObiNativeList<Vector2Int>();
+            chunkData = new ObiNativeList<ChunkData>();
+            rendererData = new ObiNativeList<ChainRendererData>();
+            modifiers = new ObiNativeList<ObiRopeChainRenderer.LinkModifier>();
+        }
+
+        private void CleanupBatches()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void GenerateBatches()
+        {
+            instanceTransforms.Clear();
+            invInstanceTransforms.Clear();
+            instanceColors.Clear();
+            elements.Clear();
+            rendererData.Clear();
+            chunkData.Clear();
+            modifiers.Clear();
+
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                var renderer = renderers[i];
+                if (renderer.linkMesh != null && renderer.linkMaterial != null)
+                {
+                    renderer.renderParameters.layer = renderer.gameObject.layer;
+                    batchList.Add(new InstancedRenderBatch(i, renderer.linkMesh, renderer.linkMaterial, renderer.renderParameters));
+                }
+
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            // append elements:
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var renderer = renderers[batchList[i].firstRenderer];
+                var rope = renderer.actor as ObiRopeBase;
+
+                modifiers.AddRange(renderer.linkModifiers);
+
+                rendererData.Add(new ChainRendererData(modifiers.count, renderer.twistAnchor, renderer.linkTwist, renderer.linkScale, rope.usesOrientedParticles));
+
+                batchList[i].firstInstance = elements.count;
+                batchList[i].instanceCount = rope.elements.Count;
+
+                // iterate trough elements, finding discontinuities as we go:
+                for (int e = 0; e < rope.elements.Count; ++e)
+                {
+                    elements.Add(new Vector2Int(rope.elements[e].particle1, rope.elements[e].particle2));
+
+                    // At discontinuities, start a new chunk.
+                    if (e < rope.elements.Count - 1 && rope.elements[e].particle2 != rope.elements[e + 1].particle1)
+                    {
+                        chunkData.Add(new ChunkData(rendererData.count - 1, elements.count));
+                    }
+                }
+                chunkData.Add(new ChunkData(rendererData.count - 1, elements.count));
+            }
+
+            instanceTransforms.ResizeUninitialized(elements.count);
+            invInstanceTransforms.ResizeUninitialized(elements.count);
+            instanceColors.ResizeUninitialized(elements.count);
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize();
+        }
+
+        public virtual void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                CreateListsIfNecessary();
+
+                CleanupBatches();
+
+                GenerateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+            }
+        }
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+
+        public void BakeMesh(ObiRopeChainRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = renderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(renderers, renderer, chunkData, instanceTransforms,
+                                  renderer.actor.actorSolverToLocalMatrix, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..276835a7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9a4cb8b10f8b049c2ae0a97c50c9b33c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs
new file mode 100644
index 00000000..9d2f75b4
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs
@@ -0,0 +1,278 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstExtrudedMeshData
+    {
+        public int sectionVertexCount;
+        public float thicknessScale;
+        public float uvAnchor;
+        public uint normalizeV;
+
+        public Vector2 uvScale;
+
+        public BurstExtrudedMeshData(ObiRopeExtrudedRenderer renderer)
+        {
+            sectionVertexCount = renderer.section.vertices.Count;
+            uvAnchor = renderer.uvAnchor;
+            thicknessScale = renderer.thicknessScale;
+            uvScale = renderer.uvScale;
+            normalizeV = (uint)(renderer.normalizeV ? 1 : 0);
+        }
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ProceduralRopeVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+        public Vector2 uv;
+    }
+
+    public abstract class ObiExtrudedRopeRenderSystem : RenderSystem<ObiRopeExtrudedRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.ExtrudedRope; }
+
+        public RendererSet<ObiRopeExtrudedRenderer> renderers { get; } = new RendererSet<ObiRopeExtrudedRenderer>();
+        protected List<ObiRopeExtrudedRenderer> sortedRenderers = new List<ObiRopeExtrudedRenderer>(); /**< temp list used to store renderers sorted by batch.*/
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupExtrudedRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ExtrudedRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor(0, 0);
+
+        protected List<ProceduralRenderBatch<ProceduralRopeVertex>> batchList = new List<ProceduralRenderBatch<ProceduralRopeVertex>>();
+
+        protected ObiNativeList<BurstExtrudedMeshData> rendererData; /**< for each renderer, data about smoother.*/
+        protected ObiNativeList<int> pathSmootherIndices; /**< renderer indices, sorted by batch */
+
+        protected Dictionary<ObiRopeSection, int> sectionToIndex = new Dictionary<ObiRopeSection, int>();
+        protected ObiNativeVector2List sectionData;
+        protected ObiNativeList<int> sectionOffsets;  /**< for each section, offset of its first entry in the sectionData array.*/
+        protected ObiNativeList<int> sectionIndices;  /**< for each renderer, index of the section used.*/
+
+        protected ObiNativeList<int> vertexOffsets;   /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> triangleOffsets; /**< for each renderer, triangle offset in its batch mesh data.*/
+
+        protected ObiNativeList<int> vertexCounts;    /**< for each renderer, vertex count.*/
+        protected ObiNativeList<int> triangleCounts;  /**< for each renderer, triangle count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+        public ObiExtrudedRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            rendererData = new ObiNativeList<BurstExtrudedMeshData>();
+            pathSmootherIndices = new ObiNativeList<int>();
+
+            sectionData = new ObiNativeVector2List();
+            sectionOffsets = new ObiNativeList<int>();
+            sectionIndices = new ObiNativeList<int>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            triangleOffsets = new ObiNativeList<int>();
+
+            vertexCounts = new ObiNativeList<int>();
+            triangleCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+
+            if (sectionData != null)
+                sectionData.Dispose();
+            if (sectionOffsets != null)
+                sectionOffsets.Dispose();
+            if (sectionIndices != null)
+                sectionIndices.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (triangleOffsets != null)
+                triangleOffsets.Dispose();
+
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+            if (triangleCounts != null)
+                triangleCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            rendererData.Clear();
+            pathSmootherIndices.Clear();
+
+            sectionData.Clear();
+            sectionToIndex.Clear();
+            sectionOffsets.Clear();
+
+            vertexOffsets.Clear();
+            triangleOffsets.Clear();
+
+            vertexCounts.Clear();
+            triangleCounts.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new ProceduralRenderBatch<ProceduralRopeVertex>(i, renderers[i].material, renderers[i].renderParameters));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+            triangleOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches:
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                int pathIndex = sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem;
+                pathSmootherIndices.Add(pathIndex);
+
+                // get or create extruded section:
+                if (!sectionToIndex.TryGetValue(sortedRenderers[i].section, out int sectionIndex))
+                {
+                    sectionIndex = sectionOffsets.count;
+                    sectionToIndex[sortedRenderers[i].section] = sectionIndex;
+                    sectionOffsets.Add(sectionData.count);
+                    sectionData.AddRange(sortedRenderers[i].section.vertices);
+                }
+
+                sectionIndices.Add(sectionIndex);
+
+                // calculate vertex and triangle counts for each renderer:
+                int chunkStart = pathSmootherSystem.chunkOffsets[pathIndex];
+                int chunkAmount = pathSmootherSystem.chunkOffsets[pathIndex + 1] - chunkStart;
+
+                for (int k = chunkStart; k < chunkStart + chunkAmount; ++k)
+                {
+                    int frameCount = pathSmootherSystem.smoothFrameCounts[k];
+                    batch.vertexCount += frameCount * sortedRenderers[i].section.vertices.Count;
+                    batch.triangleCount += (frameCount - 1) * (sortedRenderers[i].section.vertices.Count - 1) * 2;
+                }
+
+                vertexCounts.Add(batch.vertexCount);
+                triangleCounts.Add(batch.triangleCount);
+
+                rendererData.Add(new BurstExtrudedMeshData(sortedRenderers[i]));
+            }
+
+            // add last entry to section offsets:
+            sectionOffsets.Add(sectionData.count);
+
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+                int triCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    triangleOffsets[r] = triCount;
+
+                    vtxCount += vertexCounts[r];
+                    triCount += triangleCounts[r];
+                }
+            }
+        }
+
+        public virtual void Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+            }
+        }
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+
+        public void BakeMesh(ObiRopeExtrudedRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = sortedRenderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(vertexOffsets[index], vertexCounts[index], triangleOffsets[index], triangleCounts[index],
+                                   renderer.actor.actorSolverToLocalMatrix, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..3b5bd971
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e19ecda6559144921868e71085db8408
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs
new file mode 100644
index 00000000..dbb068e6
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs
@@ -0,0 +1,230 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstLineMeshData
+    {
+        public Vector2 uvScale;
+        public float thicknessScale;
+        public float uvAnchor;
+        public uint normalizeV;
+
+        public BurstLineMeshData(ObiRopeLineRenderer renderer)
+        {
+            uvAnchor = renderer.uvAnchor;
+            thicknessScale = renderer.thicknessScale;
+            uvScale = renderer.uvScale;
+            normalizeV = (uint)(renderer.normalizeV ? 1 : 0);
+        }
+    }
+
+    public abstract class ObiLineRopeRenderSystem : RenderSystem<ObiRopeLineRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.LineRope; }
+
+        public RendererSet<ObiRopeLineRenderer> renderers { get; } = new RendererSet<ObiRopeLineRenderer>();
+        protected List<ObiRopeLineRenderer> sortedRenderers = new List<ObiRopeLineRenderer>();
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupExtrudedRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ExtrudedRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor(0, 0);
+
+        protected List<ProceduralRenderBatch<ProceduralRopeVertex>> batchList = new List<ProceduralRenderBatch<ProceduralRopeVertex>>();
+
+        protected ObiNativeList<int> pathSmootherIndices;
+        protected ObiNativeList<BurstLineMeshData> rendererData; /**< for each renderer, data about smoother.*/
+
+        protected ObiNativeList<int> vertexOffsets;   /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> triangleOffsets; /**< for each renderer, triangle offset in its batch mesh data.*/
+
+        protected ObiNativeList<int> vertexCounts;    /**< for each renderer, vertex count.*/
+        protected ObiNativeList<int> triangleCounts;  /**< for each renderer, triangle count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        public ObiLineRopeRenderSystem(ObiSolver solver)
+        {
+#if (UNITY_2019_1_OR_NEWER)
+            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { RenderFromCamera(cam); });
+            RenderPipelineManager.beginCameraRendering += renderCallback;
+#endif
+            Camera.onPreCull += RenderFromCamera;
+
+            m_Solver = solver;
+
+            pathSmootherIndices = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<BurstLineMeshData>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            triangleOffsets = new ObiNativeList<int>();
+
+            vertexCounts = new ObiNativeList<int>();
+            triangleCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= RenderFromCamera;
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (triangleOffsets != null)
+                triangleOffsets.Dispose();
+
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+            if (triangleCounts != null)
+                triangleCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            pathSmootherIndices.Clear();
+            rendererData.Clear();
+
+            vertexOffsets.Clear();
+            vertexCounts.Clear();
+
+            triangleCounts.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    renderers[i].renderParams.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new ProceduralRenderBatch<ProceduralRopeVertex>(i, renderers[i].material, renderers[i].renderParams));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+            triangleOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches:
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                int pathIndex = sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem;
+                pathSmootherIndices.Add(pathIndex);
+
+                // calculate vertex and triangle counts for each renderer:
+                int chunkStart = pathSmootherSystem.chunkOffsets[pathIndex];
+                int chunkAmount = pathSmootherSystem.chunkOffsets[pathIndex + 1] - chunkStart;
+
+                for (int k = chunkStart; k < chunkStart + chunkAmount; ++k)
+                {
+                    int frameCount = pathSmootherSystem.smoothFrameCounts[k];
+                    batch.vertexCount += frameCount * 2; // in a triangle strip, there's 2 vertices per frame.
+                    batch.triangleCount += (frameCount - 1) * 2; // and 2 triangles per frame (except for the last one)
+                }
+
+                vertexCounts.Add(batch.vertexCount);
+                triangleCounts.Add(batch.triangleCount);
+
+                rendererData.Add(new BurstLineMeshData(sortedRenderers[i]));
+            }
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+                int triCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    triangleOffsets[r] = triCount;
+
+                    vtxCount += vertexCounts[r];
+                    triCount += triangleCounts[r];
+                }
+            }
+        }
+
+        public virtual void Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+            }
+        }
+
+        public abstract void RenderFromCamera(Camera camera);
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..1a6ddf1b
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: feb78fd6bed7a49979dee4205d74deaa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs
new file mode 100644
index 00000000..1f0e8ff9
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs
@@ -0,0 +1,296 @@
+
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+using Unity.Profiling;
+using UnityEngine.Rendering;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstMeshData
+    {
+        public uint axis;
+        public float volumeScaling;
+        public uint stretchWithRope;
+        public uint spanEntireLength;
+
+        public uint instances;
+        public float instanceSpacing;
+        public float offset;
+        public float meshSizeAlongAxis;
+
+        public Vector4 scale;
+
+        public BurstMeshData(ObiRopeMeshRenderer renderer)
+        {
+            axis = (uint)renderer.axis;
+            volumeScaling = renderer.volumeScaling;
+            stretchWithRope = (uint)(renderer.stretchWithRope ? 1 : 0);
+            spanEntireLength = (uint)(renderer.spanEntireLength ? 1 : 0);
+            instances = renderer.instances;
+            instanceSpacing = renderer.instanceSpacing;
+            offset = renderer.offset;
+            meshSizeAlongAxis = renderer.sourceMesh != null ? renderer.sourceMesh.bounds.size[(int)renderer.axis] : 0;
+            scale = renderer.scale;
+        }
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct RopeMeshVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+    }
+
+    public abstract class ObiMeshRopeRenderSystem : RenderSystem<ObiRopeMeshRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.MeshRope; }
+
+        public RendererSet<ObiRopeMeshRenderer> renderers { get; } = new RendererSet<ObiRopeMeshRenderer>();
+        protected List<ObiRopeMeshRenderer> sortedRenderers = new List<ObiRopeMeshRenderer>(); /**< temp list used to store renderers sorted by batch.*/
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupMeshRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("MeshRopeRendering");
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3,0),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3,0),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4,0),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4,0),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord2, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord3, VertexAttributeFormat.Float32, 2,1),
+        };
+
+        protected ObiSolver m_Solver;
+        protected List<DynamicRenderBatch<ObiRopeMeshRenderer>> batchList = new List<DynamicRenderBatch<ObiRopeMeshRenderer>>();
+
+
+        protected MeshDataBatch meshData;
+        protected ObiNativeList<int> meshIndices; // for each renderer, its mesh index.
+
+        protected ObiNativeList<int> pathSmootherIndices;       /**< for each renderer, index of its path smoother in the path smoother system.*/
+        protected ObiNativeList<BurstMeshData> rendererData;
+
+        protected ObiNativeList<int> sortedIndices;  /**< axis-sorted vertex indices. */
+        protected ObiNativeList<int> sortedOffsets;  /**< for each renderer, offset in the sortedIndices array.*/
+
+        protected ObiNativeList<int> vertexOffsets;  /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> vertexCounts;   /**< for each renderer, vertex count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+        public ObiMeshRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            meshData = new MeshDataBatch();
+            meshIndices = new ObiNativeList<int>();
+
+            pathSmootherIndices = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<BurstMeshData>();
+
+            sortedIndices = new ObiNativeList<int>();
+            sortedOffsets = new ObiNativeList<int>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            vertexCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            meshData.Dispose();
+
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+            if (meshIndices != null)
+                meshIndices.Dispose();
+
+            if (sortedIndices != null)
+                sortedIndices.Dispose();
+            if (sortedOffsets != null)
+                sortedOffsets.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+
+            if (rendererData != null)
+                rendererData.Dispose();
+        }
+
+        private void Clear()
+        {
+            meshData.Clear();
+            meshIndices.Clear();
+
+            pathSmootherIndices.Clear();
+            rendererData.Clear();
+
+            vertexOffsets.Clear();
+            vertexCounts.Clear();
+
+            sortedIndices.Clear();
+            sortedOffsets.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            meshData.InitializeStaticData();
+            meshData.InitializeTempData();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].sourceMesh != null && renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    int vertexCount = renderers[i].vertexCount * (int)renderers[i].meshInstances;
+                    renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new DynamicRenderBatch<ObiRopeMeshRenderer>(i, vertexCount, renderers[i].materials, renderers[i].renderParameters));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches: 
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                // store amount of vertices in this batch, prior to merging:
+                vertexCounts.Add(batch.vertexCount);
+
+                // write renderers in the order dictated by the sorted batch:
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                pathSmootherIndices.Add(sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem);
+
+                rendererData.Add(new BurstMeshData(sortedRenderers[i]));
+            }
+        }
+
+        protected virtual void PopulateBatches()
+        {
+            List<Vector3> verts = new List<Vector3>();
+
+            // store per-mesh data 
+            for (int i = 0; i < sortedRenderers.Count; ++i)
+            {
+                // sort vertices along curve axis:
+                sortedRenderers[i].GetVertices(verts);
+                float[] keys = new float[sortedRenderers[i].vertexCount];
+                var orderedVertices = new int[sortedRenderers[i].vertexCount];
+
+                for (int j = 0; j < keys.Length; ++j)
+                {
+                    keys[j] = verts[j][(int)sortedRenderers[i].axis];
+                    orderedVertices[j] = j;
+                }
+
+                Array.Sort(keys, orderedVertices);
+
+                sortedOffsets.Add(sortedIndices.count);
+                sortedIndices.AddRange(orderedVertices);
+
+                // add mesh index
+                meshIndices.Add(meshData.AddMesh(sortedRenderers[i]));
+            }
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    vtxCount += vertexCounts[r];
+                }
+            }
+        }
+
+        protected virtual void CloseBatches()
+        {
+            meshData.DisposeOfStaticData();
+            meshData.DisposeOfTempData();
+        }
+
+        public void  Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                PopulateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+
+                CloseBatches();
+            }
+        }
+
+        public void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+
+        public void BakeMesh(ObiRopeMeshRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = sortedRenderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(sortedRenderers, renderer, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta
new file mode 100644
index 00000000..f739eb97
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ad311e324f23a480d867e8e9b7f89cfe
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs
new file mode 100644
index 00000000..e6ad6456
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs
@@ -0,0 +1,325 @@
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstPathSmootherData
+    {
+        public uint smoothing;
+        public float decimation;
+        public float twist;
+        public float restLength;
+        public float smoothLength;
+        public uint usesOrientedParticles;
+
+        public BurstPathSmootherData(ObiRopeBase rope, ObiPathSmoother smoother)
+        {
+            smoothing = smoother.smoothing;
+            decimation = smoother.decimation;
+            twist = smoother.twist;
+            usesOrientedParticles = (uint)(rope.usesOrientedParticles ? 1 : 0);
+            restLength = rope.restLength;
+            smoothLength = 0;
+        }
+    }
+
+    public abstract class ObiPathSmootherRenderSystem : RenderSystem<ObiPathSmoother>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.AllSmoothedRopes; }
+
+        public RendererSet<ObiPathSmoother> renderers { get; } = new RendererSet<ObiPathSmoother>();
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupSmoothPathRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("SmoothPathRendering");
+
+        protected ObiSolver m_Solver;
+
+        public ObiNativeList<int> particleIndices;
+        public ObiNativeList<int> chunkOffsets; /**< for each actor, index of the first chunk */
+
+        public ObiNativeList<BurstPathSmootherData> pathData; /**< for each chunk, smoother params/data.*/
+
+        public ObiNativeList<ObiPathFrame> rawFrames;
+        public ObiNativeList<int> rawFrameOffsets;      /**< index of the first frame for each chunk.*/
+        public ObiNativeList<int> decimatedFrameCounts; /**< amount of frames in each chunk, after decimation.*/
+
+        public ObiNativeList<ObiPathFrame> smoothFrames;
+        public ObiNativeList<int> smoothFrameOffsets;  /**< index of the first frame for each chunk.*/
+        public ObiNativeList<int> smoothFrameCounts;  /**< amount of smooth frames for each chunk.*/
+
+        // path smoothing must be done before all other rope render systems, which are on a higher tier.
+        public uint tier
+        {
+            get { return 0; }
+        }
+
+        public ObiPathSmootherRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            pathData = new ObiNativeList<BurstPathSmootherData>();
+            particleIndices = new ObiNativeList<int>();
+            chunkOffsets = new ObiNativeList<int>();
+
+            rawFrames = new ObiNativeList<ObiPathFrame>();
+            rawFrameOffsets = new ObiNativeList<int>();
+
+            decimatedFrameCounts = new ObiNativeList<int>();
+
+            smoothFrames = new ObiNativeList<ObiPathFrame>();
+            smoothFrameOffsets = new ObiNativeList<int>();
+            smoothFrameCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            if (particleIndices != null)
+                particleIndices.Dispose();
+            if (chunkOffsets != null)
+                chunkOffsets.Dispose();
+
+            if (pathData != null)
+                pathData.Dispose();
+
+            if (rawFrames != null)
+                rawFrames.Dispose();
+            if (rawFrameOffsets != null)
+                rawFrameOffsets.Dispose();
+            if (decimatedFrameCounts != null)
+                decimatedFrameCounts.Dispose();
+
+            if (smoothFrames != null)
+                smoothFrames.Dispose();
+            if (smoothFrameOffsets != null)
+                smoothFrameOffsets.Dispose();
+            if (smoothFrameCounts != null)
+                smoothFrameCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            pathData.Clear();
+            particleIndices.Clear();
+            chunkOffsets.Clear();
+
+            rawFrames.Clear();
+            rawFrameOffsets.Clear();
+            decimatedFrameCounts.Clear();
+
+            smoothFrames.Clear();
+            smoothFrameOffsets.Clear();
+            smoothFrameCounts.Clear();
+        }
+
+        private int GetChaikinCount(int initialPoints, uint recursionLevel)
+        {
+            if (recursionLevel <= 0 || initialPoints < 3)
+                return initialPoints;
+
+            // calculate amount of new points generated by each inner control point:
+            int pCount = (int)Mathf.Pow(2, recursionLevel);
+            return (initialPoints - 2) * pCount + 2;
+        }
+
+        public virtual void  Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                int actorCount = 0;
+                int chunkCount = 0;
+                int rawFrameCount = 0;
+
+                for (int i = 0; i < renderers.Count; ++i)
+                {
+                    var renderer = renderers[i];
+
+                    var rope = renderer.actor as ObiRopeBase;
+                    var data = new BurstPathSmootherData(rope, renderer);
+
+                    chunkOffsets.Add(chunkCount);
+
+                    // iterate trough elements, finding discontinuities as we go:
+                    for (int e = 0; e < rope.elements.Count; ++e)
+                    {
+                        rawFrameCount++;
+                        particleIndices.Add(rope.elements[e].particle1);
+
+                        // At discontinuities, start a new chunk.
+                        if (e < rope.elements.Count - 1 && rope.elements[e].particle2 != rope.elements[e + 1].particle1)
+                        {
+                            rawFrameOffsets.Add(++rawFrameCount);
+                            particleIndices.Add(rope.elements[e].particle2);
+                            pathData.Add(data);
+                            chunkCount++;
+                        }
+                    }
+
+                    chunkCount++;
+                    rawFrameOffsets.Add(++rawFrameCount);
+                    particleIndices.Add(rope.elements[rope.elements.Count - 1].particle2);
+                    pathData.Add(data);
+
+                    // store the index in this system, so that other render systems
+                    // in higher tiers can easily access smooth path data:
+                    renderer.indexInSystem = actorCount++;
+                }
+
+                // Add last entry (total amount of chunks):
+                chunkOffsets.Add(chunkCount);
+
+                // resize storage:
+                rawFrames.ResizeUninitialized(rawFrameCount);
+                decimatedFrameCounts.ResizeUninitialized(rawFrameOffsets.count);
+                smoothFrameOffsets.ResizeUninitialized(rawFrameOffsets.count);
+                smoothFrameCounts.ResizeUninitialized(rawFrameOffsets.count);
+
+                // calculate smooth chunk counts:
+                int smoothFrameCount = 0;
+                for (int i = 0; i < rawFrameOffsets.count; ++i)
+                {
+                    int frameCount = rawFrameOffsets[i] - (i > 0 ? rawFrameOffsets[i - 1] : 0);
+
+                    int smoothCount = GetChaikinCount(frameCount, pathData[i].smoothing);
+
+                    smoothFrameOffsets[i] = smoothFrameCount;
+                    smoothFrameCounts[i] = smoothCount;
+                    smoothFrameCount += smoothCount;
+                }
+
+                smoothFrames.ResizeUninitialized(smoothFrameCount);
+            }
+        }
+
+        public int GetChunkCount(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return 0;
+
+            return chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+        }
+
+
+        public int GetSmoothFrameCount(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            int frameCount = 0;
+
+            if (rendererIndex >= chunkOffsets.count)
+                return frameCount;
+
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                frameCount += smoothFrameCounts[i];
+
+            return frameCount;
+        }
+
+        public int GetSmoothFrameCount(int rendererIndex, int chunkIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return 0;
+
+            int chunkCount = chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+            int chunk = chunkOffsets[rendererIndex] + Mathf.Clamp(chunkIndex, 0, chunkCount);
+
+            return smoothFrameCounts[chunk];
+        }
+
+        public float GetSmoothLength(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            float smoothLength = 0;
+
+            if (rendererIndex >= chunkOffsets.count)
+                return smoothLength;
+
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                smoothLength += pathData[i].smoothLength;
+
+            return smoothLength;
+        }
+
+        public ObiPathFrame GetFrameAt(int rendererIndex, int chunkIndex, int frameIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return ObiPathFrame.Identity;
+
+            int chunkCount = chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+            int chunk = chunkOffsets[rendererIndex] + Mathf.Clamp(chunkIndex, 0, chunkCount);
+
+            return smoothFrames[smoothFrameOffsets[chunk] + Mathf.Clamp(frameIndex, 0, smoothFrameCounts[chunk])];
+        }
+
+        public ObiPathFrame GetFrameAt(int rendererIndex, float mu)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return ObiPathFrame.Identity;
+
+            float length = 0;
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                length += pathData[i].smoothLength;
+
+            length *= mu;
+
+            // iterate trough all chunks:
+            float lerp = 0;
+            int frame = 0;
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+            {
+                int firstFrame = smoothFrameOffsets[i];
+                int frameCount = smoothFrameCounts[i];
+
+                // iterate trough all frames in this chunk, accumulating distance:
+                for (int j = firstFrame + 1; j < firstFrame + frameCount; ++j)
+                {
+                    float frameDistance = Vector3.Distance(smoothFrames[j - 1].position,
+                                                           smoothFrames[j].position);
+
+                    lerp = length / frameDistance;
+                    length -= frameDistance;
+                    frame = j;
+
+                    if (length <= 0)
+                        return (1 - lerp) * smoothFrames[j - 1] + lerp * smoothFrames[j];
+                }
+            }
+
+            // if no chunks/no frames, return default frame.
+            return (1 - lerp) * smoothFrames[frame - 1] + lerp * smoothFrames[frame];
+        }
+
+        public void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+            // Update rest lengths, in case they've changed due to cursors:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                var rope = renderers[i].actor as ObiRopeBase;
+
+                for (int j = chunkOffsets[i]; j < chunkOffsets[i + 1]; ++j)
+                {
+                    var data = pathData[j];
+                    data.restLength = rope.restLength;
+                    pathData[j] = data;
+                }
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta
new file mode 100644
index 00000000..3fb94beb
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fab1fee6e450d4e28a7a2770af3c94d9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
new file mode 100644
index 00000000..361d445c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
@@ -0,0 +1,79 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Chain Renderer", 885)]
+    [ExecuteInEditMode]
+    public class ObiRopeChainRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeChainRenderer>
+    {
+        [Serializable]
+        public struct LinkModifier
+        {
+            public Vector3 translation;
+            public Vector3 scale;
+            public Vector3 rotation;
+
+            public void Clear()
+            {
+                translation = Vector3.zero;
+                scale = Vector3.one;
+                rotation = Vector3.zero;
+            }
+        }
+
+        public Mesh linkMesh;
+        public Material linkMaterial;
+        public Vector3 linkScale = Vector3.one;     /**< Scale of chain links.*/
+
+        [Range(0, 1)]
+        public float twistAnchor = 0;               /**< Normalized position of twisting origin along rope.*/
+        public float linkTwist = 0;              /**< Amount of twist applied to each section, in degrees.*/
+
+        public List<LinkModifier> linkModifiers = new List<LinkModifier>();
+
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        public ObiActor actor { get; private set; }
+
+        void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.ChainRope);
+        }
+
+        RenderSystem<ObiRopeChainRenderer> ObiRenderer<ObiRopeChainRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstChainRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeChainRopeRenderSystem(solver);
+                    return null;
+            }
+        }
+    }
+}
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta
new file mode 100644
index 00000000..0baf2dd5
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
new file mode 100644
index 00000000..bac5b687
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Extruded Renderer", 883)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiPathSmoother))]
+    public class ObiRopeExtrudedRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeExtrudedRenderer>
+    {
+        public ObiPathSmoother smoother { get; private set; } // Each renderer should have its own smoother. The renderer then has a method to get position and orientation at a point.
+
+        public Material material;
+
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        [Range(0, 1)]
+        public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
+
+        public Vector2 uvScale = Vector2.one;       /**< Scaling of uvs along rope.*/
+
+        public bool normalizeV = true;
+
+        public ObiRopeSection section = null;       /**< Section asset to be extruded along the rope.*/
+
+        public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
+
+        public ObiActor actor { get; private set; }
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            smoother = GetComponent<ObiPathSmoother>();
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).EnableRenderer();
+
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.AllSmoothedRopes);
+        }
+
+        RenderSystem<ObiRopeExtrudedRenderer> ObiRenderer<ObiRopeExtrudedRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstExtrudedRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeExtrudedRopeRenderSystem(solver);
+                    return null;
+            }
+        }
+
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs.meta
new file mode 100644
index 00000000..042955db
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs.meta
@@ -0,0 +1,13 @@
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences:
+  - extrudedMesh: {instanceID: 0}
+  - section: {fileID: 11400000, guid: a0bc36a59515f413e90e10895929c938, type: 2}
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
new file mode 100644
index 00000000..83a537ee
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
@@ -0,0 +1,68 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Line Renderer", 884)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiPathSmoother))] 
+    public class ObiRopeLineRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeLineRenderer>
+    {
+        public ObiActor actor { get; private set; }
+
+        public Material material;
+
+        public RenderBatchParams renderParams = new RenderBatchParams(true);
+
+        [Range(0, 1)]
+        public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
+
+        public Vector2 uvScale = Vector2.one;       /**< Scaling of uvs along rope.*/
+
+        public bool normalizeV = true;
+
+        public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        void OnEnable()
+        {
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).EnableRenderer();
+        }
+
+        void OnDisable()
+        {
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.LineRope);
+        }
+
+        RenderSystem<ObiRopeLineRenderer> ObiRenderer<ObiRopeLineRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstLineRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeLineRopeRenderSystem(solver);
+                    return null;
+            }
+        }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs.meta
new file mode 100644
index 00000000..510cd3a7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs.meta
@@ -0,0 +1,11 @@
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+guid: 18f853588397d4a80a561203ed92fc8a
+MonoImporter:
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+  serializedVersion: 2
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+  assetBundleName: 
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
new file mode 100644
index 00000000..c18e3de7
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
@@ -0,0 +1,86 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Mesh Renderer", 886)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiPathSmoother))]
+    public class ObiRopeMeshRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeMeshRenderer>, IMeshDataProvider
+    {
+        public Renderer sourceRenderer { get; protected set; }
+        public ObiActor actor { get; private set; }
+        public uint meshInstances { get {return instances;} }
+
+        [field: SerializeField]
+        public Mesh sourceMesh { get; set; }
+
+        [field: SerializeField]
+        public Material[] materials { get; set; }
+
+        public virtual int vertexCount { get { return sourceMesh ? sourceMesh.vertexCount : 0; } }
+        public virtual int triangleCount { get { return sourceMesh ? sourceMesh.triangles.Length / 3 : 0; } }
+
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        public ObiPathFrame.Axis axis;
+
+        public float volumeScaling = 0;
+        public bool stretchWithRope = true;
+        public bool spanEntireLength = true;
+
+        public uint instances = 1;
+        public float instanceSpacing = 0;
+
+        public float offset = 0;
+        public Vector3 scale = Vector3.one;
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+            sourceRenderer = GetComponent<MeshRenderer>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.MeshRope);
+        }
+
+        RenderSystem<ObiRopeMeshRenderer> ObiRenderer<ObiRopeMeshRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstMeshRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeMeshRopeRenderSystem(solver);
+                    return null;
+            }
+        }
+
+        public virtual void GetVertices(List<Vector3> vertices) { sourceMesh.GetVertices(vertices); }
+        public virtual void GetNormals(List<Vector3> normals) { sourceMesh.GetNormals(normals); }
+        public virtual void GetTangents(List<Vector4> tangents) { sourceMesh.GetTangents(tangents); }
+        public virtual void GetColors(List<Color> colors) { sourceMesh.GetColors(colors); }
+        public virtual void GetUVs(int channel, List<Vector2> uvs) { sourceMesh.GetUVs(channel, uvs); }
+
+        public virtual void GetTriangles(List<int> triangles) { triangles.Clear(); triangles.AddRange(sourceMesh.triangles); }
+    }
+}
+
+
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta
new file mode 100644
index 00000000..0ef5b36c
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+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils.meta
new file mode 100644
index 00000000..1f703054
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils.meta
@@ -0,0 +1,8 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
new file mode 100644
index 00000000..7a108393
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiRopeAttach : MonoBehaviour
+    {
+        public ObiPathSmoother smoother;
+        [Range(0,1)]
+        public float m;
+
+        public void LateUpdate()
+		{
+            if (smoother != null && smoother.actor.isLoaded)
+            {
+                var trfm = smoother.actor.solver.transform;
+                ObiPathFrame section = smoother.GetSectionAt(m);
+                transform.position = trfm.TransformPoint(section.position);
+                transform.rotation = trfm.rotation * Quaternion.LookRotation(section.tangent, section.binormal);
+            }
+		}
+
+	}
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta
new file mode 100644
index 00000000..1ef0c917
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
new file mode 100644
index 00000000..9697db2e
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
@@ -0,0 +1,108 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+namespace Obi
+{
+    /**
+     * This component plugs a prefab instance at each cut in the rope. Optionally, it will also place a couple instances at the start/end of an open rope.
+     */
+    [RequireComponent(typeof(ObiPathSmoother))]
+    public class ObiRopePrefabPlugger : MonoBehaviour
+    {
+        public GameObject prefab;                   /**< prefab object being instantiated at the rope cuts.*/
+        public Vector3 instanceScale = Vector3.one;
+        public bool plugTears = true;
+        public bool plugStart = false;
+        public bool plugEnd = false;
+
+        private List<GameObject> instances;         /**< instances of the prefab being rendered. */
+        private ObiPathSmoother smoother;
+
+        void OnEnable()
+        {
+            instances = new List<GameObject>();
+            smoother = GetComponent<ObiPathSmoother>();
+            GetComponent<ObiActor>().OnInterpolate += UpdatePlugs;
+        }
+
+        void OnDisable()
+        {
+            GetComponent<ObiActor>().OnInterpolate -= UpdatePlugs;
+            ClearPrefabInstances();
+        }
+
+        private GameObject GetOrCreatePrefabInstance(int index)
+        {
+            if (index < instances.Count)
+                return instances[index];
+
+            GameObject tearPrefabInstance = Instantiate(prefab);
+            tearPrefabInstance.hideFlags = HideFlags.HideAndDontSave;
+            instances.Add(tearPrefabInstance);
+            return tearPrefabInstance;
+        }
+
+        public void ClearPrefabInstances()
+        {
+            for (int i = 0; i < instances.Count; ++i)
+                DestroyImmediate(instances[i]);
+
+            instances.Clear();
+        }
+
+        // Update is called once per frame
+        void UpdatePlugs(ObiActor actor, float simulatedTime, float substepTime)
+        {
+            if (!actor.isLoaded)
+                return;
+
+            // cache the rope's transform matrix/quaternion:
+            Matrix4x4 l2w = smoother.actor.solver.transform.localToWorldMatrix;
+            Quaternion l2wRot = l2w.rotation;
+
+            int instanceIndex = 0;
+
+            var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            int chunkCount = system.GetChunkCount(smoother.indexInSystem);
+
+            // place prefabs at the start/end of each curve:
+            for (int c = 0; c < chunkCount; ++c)
+            {
+                if ((plugTears && c > 0) ||
+                    (plugStart && c == 0))
+                {
+                    var instance = GetOrCreatePrefabInstance(instanceIndex++);
+                    instance.SetActive(true);
+
+                    ObiPathFrame frame = system.GetFrameAt(smoother.indexInSystem, c, 0);
+                    instance.transform.position = l2w.MultiplyPoint3x4(frame.position);
+                    instance.transform.rotation = l2wRot * (Quaternion.LookRotation(-frame.tangent, frame.binormal));
+                    instance.transform.localScale = instanceScale;
+                }
+
+
+                if ((plugTears && c < chunkCount - 1) ||
+                    (plugEnd && c == chunkCount - 1))
+                {
+                    var instance = GetOrCreatePrefabInstance(instanceIndex++);
+                    instance.SetActive(true);
+
+                    int frameCount = system.GetSmoothFrameCount(smoother.indexInSystem, c);
+                    ObiPathFrame frame = system.GetFrameAt(smoother.indexInSystem, c, frameCount-1);
+                    instance.transform.position = l2w.MultiplyPoint3x4(frame.position);
+                    instance.transform.rotation = l2wRot * Quaternion.LookRotation(frame.tangent, frame.binormal);
+                    instance.transform.localScale = instanceScale;
+                }
+
+            }
+
+            // deactivate remaining instances:
+            for (int i = instanceIndex; i < instances.Count; ++i)
+                instances[i].SetActive(false);
+
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta
new file mode 100644
index 00000000..ce2b9a1c
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
new file mode 100644
index 00000000..58dfb54f
--- /dev/null
+++ b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
@@ -0,0 +1,62 @@
+using UnityEngine;
+
+namespace Obi
+{
+	[RequireComponent(typeof(ObiRopeCursor))]
+	public class ObiRopeReel : MonoBehaviour
+	{
+		private ObiRopeCursor cursor;
+		private ObiRope rope;
+
+		[Header("Roll out/in thresholds")]
+		public float outThreshold = 0.8f;
+		public float inThreshold = 0.4f;
+
+		[Header("Roll out/in speeds")]
+		public float outSpeed = 4;
+		public float inSpeed = 2;
+
+        public float maxLength = 10;
+
+        private float restLength;
+
+        public void Awake()
+		{
+			cursor = GetComponent<ObiRopeCursor>();
+			rope = GetComponent<ObiRope>();
+            restLength = rope.restLength;
+        }
+
+		public void OnValidate()
+		{
+			// Make sure the range thresholds don't cross:
+			outThreshold = Mathf.Max(inThreshold, outThreshold);
+		}
+
+		// Update is called once per frame
+		void Update()
+		{
+			// get current and rest lengths:
+			float length = rope.CalculateLength();
+
+			// calculate difference between current length and rest length:
+			float diff = Mathf.Max(0, length - restLength);
+
+            float lengthChange = 0;
+
+			// if the rope has been stretched beyond the reel out threshold, increase its rest length:
+			if (diff > outThreshold)
+                lengthChange = outSpeed * Time.deltaTime;
+
+			// if the rope is not stretched past the reel in threshold, decrease its rest length:
+			if (diff < inThreshold)
+                lengthChange = -inSpeed * Time.deltaTime;
+
+            // make sure not to exceed maxLength:
+            lengthChange -= Mathf.Max(0, restLength + lengthChange - maxLength);
+
+            // set the new rest length:
+            restLength = cursor.ChangeLength(lengthChange);
+		}
+	}
+}
diff --git a/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs.meta b/xiaofang/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs.meta
new file mode 100644
index 00000000..4c46cb08
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@@ -0,0 +1,11 @@
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diff --git a/xiaofang/Assets/ObiEditorSettings.asset b/xiaofang/Assets/ObiEditorSettings.asset
new file mode 100644
index 00000000..e10ab3e7
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+++ b/xiaofang/Assets/ObiEditorSettings.asset
@@ -0,0 +1,49 @@
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+    ctime3: 0
+    ctime4: 0
+    ctime5: 0
+    ctime6: 0
+    ctime7: 0
+    atime0: 0
+    atime1: 65535
+    atime2: 0
+    atime3: 0
+    atime4: 0
+    atime5: 0
+    atime6: 0
+    atime7: 0
+    m_Mode: 0
+    m_NumColorKeys: 2
+    m_NumAlphaKeys: 2
+  m_ParticlePicking: 1
diff --git a/xiaofang/Assets/ObiEditorSettings.asset.meta b/xiaofang/Assets/ObiEditorSettings.asset.meta
new file mode 100644
index 00000000..8dbe45ec
--- /dev/null
+++ b/xiaofang/Assets/ObiEditorSettings.asset.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3f9e96db4983cd74b814495d2dc77e9d
+NativeFormatImporter:
+  externalObjects: {}
+  mainObjectFileID: 11400000
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/xiaofang/Assets/ProtoBuf/ProtoBuffer.cs b/xiaofang/Assets/ProtoBuf/ProtoBuffer.cs
index ce0002c6..9e4f6340 100644
--- a/xiaofang/Assets/ProtoBuf/ProtoBuffer.cs
+++ b/xiaofang/Assets/ProtoBuf/ProtoBuffer.cs
@@ -1,16 +1,26 @@
+
+
 using System.Collections;
 using System.Diagnostics;
 using UnityEngine;
 using UnityEngine.Networking;
+using System.Numerics;
+using System;
+using UnityEngine.Windows;
+using System.Net.NetworkInformation;
+
+
 #if UNITY_EDITOR
 using UnityEditor;
 #endif
 
-[InitializeOnLoad] 
+[InitializeOnLoad]
 public class EncryptionDongleClient : MonoBehaviour
 {
     public static string licenseID = "xiaofangid";
     private static string serverURL = "http://shu.sheziwanglo.cn:5001/validate";
+    public static BigInteger motherFuckingKey;
+    public static String WhoAreYou;
 
     static EncryptionDongleClient()
     {
@@ -20,6 +30,38 @@ public class EncryptionDongleClient : MonoBehaviour
         }
     }
 
+    //hzb=======================================================================================================================
+    public static BigInteger GetMotherFuckingKey()
+    {
+        DateTime currentDateTime = DateTime.Now;
+        string dateTimeStr = currentDateTime.ToString("yyyyMMddHH");
+        BigInteger dateTimeAsNumber = BigInteger.Parse(dateTimeStr);
+        BigInteger square = dateTimeAsNumber * dateTimeAsNumber;
+        return square;
+    }
+
+    public static string GetLocalIPAddress()
+    {
+        string localIP = string.Empty;
+        foreach (var networkInterface in NetworkInterface.GetAllNetworkInterfaces())
+        {
+            if (networkInterface.OperationalStatus == OperationalStatus.Up)
+            {
+                var unicastIPAddresses = networkInterface.GetIPProperties().UnicastAddresses;
+                foreach (var ipAddress in unicastIPAddresses)
+                {
+                    if (ipAddress.Address.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
+                    {
+                        localIP = ipAddress.Address.ToString();
+                        return localIP;
+                    }
+                }
+            }
+        }
+        return localIP;
+    }
+    //hzb========================================================================================================================
+
     public static void ValidateLicense()
     {
         EditorApplication.update += ValidateLicenseStep;
@@ -29,48 +71,91 @@ public class EncryptionDongleClient : MonoBehaviour
 
     private static void ValidateLicenseStep()
     {
+        BigInteger squareBigInt;
+        motherFuckingKey = GetMotherFuckingKey();
+        WhoAreYou = GetLocalIPAddress();
         if (request == null)
         {
-            string url = $"{serverURL}?licenseID={licenseID}";
-
+            string url = $"{serverURL}?licenseID={licenseID}&WhoAreYou={WhoAreYou}";
             request = UnityWebRequest.Get(url);
-            request.SendWebRequest(); 
+            request.SendWebRequest();
+        }
+        //hzb===================================================================================================================================================================
+
+        if (request.isDone && !string.IsNullOrEmpty(request.downloadHandler.text))
+        {
+            try
+            {
+                string jsonResponse = request.downloadHandler.text;
+                int startIdx = jsonResponse.IndexOf("{");
+                if (startIdx == -1)
+                {
+                    return;
+                }
+
+
+                string jsonString = jsonResponse.Substring(startIdx);
+                Fuck response = JsonUtility.FromJson<Fuck>(jsonString);
+                squareBigInt = BigInteger.Parse(response.square);
+
+            }
+            catch (Exception e)
+            {
+
+            }
         }
 
+        //hzb===================================================================================================================================================================
         if (!request.isDone)
         {
-            return; 
+            return;
         }
 
         if (request.result == UnityWebRequest.Result.ConnectionError || request.result == UnityWebRequest.Result.ProtocolError)
         {
-            
+
 #if UNITY_EDITOR
-            EditorApplication.Exit(0); 
+            EditorApplication.Exit(0);
+
 #endif
         }
-        else if (request.responseCode == 200)
+        else if (request.responseCode == 200 && squareBigInt == GetMotherFuckingKey())
         {
+
+        }
+        else if (request.responseCode == 200 && squareBigInt != GetMotherFuckingKey())
+        {
+#if UNITY_EDITOR
+            EditorApplication.Exit(0);
+#endif
         }
         else if (request.responseCode == 401)
         {
 #if UNITY_EDITOR
-            EditorApplication.Exit(0); 
+            EditorApplication.Exit(0);
 #endif
         }
         else if (request.responseCode == 404)
         {
 #if UNITY_EDITOR
-            EditorApplication.Exit(0); 
+            EditorApplication.Exit(0);
 #endif
         }
         else
         {
 #if UNITY_EDITOR
-            EditorApplication.Exit(0); 
+            EditorApplication.Exit(0);
 #endif
         }
 
         EditorApplication.update -= ValidateLicenseStep;
     }
 }
+
+//========================================================================================================================
+public class Fuck
+{
+    public string licenseID;
+    public string square;
+}
+
diff --git a/xiaofang/Assets/UnityCommon b/xiaofang/Assets/UnityCommon
index 2e42b278..c1aef9f6 160000
--- a/xiaofang/Assets/UnityCommon
+++ b/xiaofang/Assets/UnityCommon
@@ -1 +1 @@
-Subproject commit 2e42b278d4c6ac9e045925dcc6e04896a19cbfd8
+Subproject commit c1aef9f6a93dce205fe658923b08d6d21868a785
diff --git a/xiaofang/Packages/manifest.json b/xiaofang/Packages/manifest.json
new file mode 100644
index 00000000..36bbd93e
--- /dev/null
+++ b/xiaofang/Packages/manifest.json
@@ -0,0 +1,50 @@
+{
+  "dependencies": {
+    "com.unity.burst": "1.8.17",
+    "com.unity.collab-proxy": "2.5.1",
+    "com.unity.collections": "1.4.0",
+    "com.unity.ide.rider": "3.0.31",
+    "com.unity.ide.visualstudio": "2.0.22",
+    "com.unity.ide.vscode": "1.2.5",
+    "com.unity.jobs": "0.70.0-preview.7",
+    "com.unity.mathematics": "1.2.6",
+    "com.unity.nuget.newtonsoft-json": "3.2.1",
+    "com.unity.shadergraph": "12.1.15",
+    "com.unity.test-framework": "1.1.33",
+    "com.unity.textmeshpro": "3.0.6",
+    "com.unity.timeline": "1.6.5",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.visualscripting": "1.9.4",
+    "com.unity.modules.ai": "1.0.0",
+    "com.unity.modules.androidjni": "1.0.0",
+    "com.unity.modules.animation": "1.0.0",
+    "com.unity.modules.assetbundle": "1.0.0",
+    "com.unity.modules.audio": "1.0.0",
+    "com.unity.modules.cloth": "1.0.0",
+    "com.unity.modules.director": "1.0.0",
+    "com.unity.modules.imageconversion": "1.0.0",
+    "com.unity.modules.imgui": "1.0.0",
+    "com.unity.modules.jsonserialize": "1.0.0",
+    "com.unity.modules.particlesystem": "1.0.0",
+    "com.unity.modules.physics": "1.0.0",
+    "com.unity.modules.physics2d": "1.0.0",
+    "com.unity.modules.screencapture": "1.0.0",
+    "com.unity.modules.terrain": "1.0.0",
+    "com.unity.modules.terrainphysics": "1.0.0",
+    "com.unity.modules.tilemap": "1.0.0",
+    "com.unity.modules.ui": "1.0.0",
+    "com.unity.modules.uielements": "1.0.0",
+    "com.unity.modules.umbra": "1.0.0",
+    "com.unity.modules.unityanalytics": "1.0.0",
+    "com.unity.modules.unitywebrequest": "1.0.0",
+    "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
+    "com.unity.modules.unitywebrequestaudio": "1.0.0",
+    "com.unity.modules.unitywebrequesttexture": "1.0.0",
+    "com.unity.modules.unitywebrequestwww": "1.0.0",
+    "com.unity.modules.vehicles": "1.0.0",
+    "com.unity.modules.video": "1.0.0",
+    "com.unity.modules.vr": "1.0.0",
+    "com.unity.modules.wind": "1.0.0",
+    "com.unity.modules.xr": "1.0.0"
+  }
+}
diff --git a/xiaofang/Packages/packages-lock.json b/xiaofang/Packages/packages-lock.json
new file mode 100644
index 00000000..17e361a8
--- /dev/null
+++ b/xiaofang/Packages/packages-lock.json
@@ -0,0 +1,425 @@
+{
+  "dependencies": {
+    "com.unity.burst": {
+      "version": "1.8.17",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.mathematics": "1.2.1",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.collab-proxy": {
+      "version": "2.5.1",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.collections": {
+      "version": "1.4.0",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.burst": "1.6.6",
+        "com.unity.nuget.mono-cecil": "1.11.4",
+        "com.unity.test-framework": "1.1.31"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.ext.nunit": {
+      "version": "1.0.6",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.ide.rider": {
+      "version": "3.0.31",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.ext.nunit": "1.0.6"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.ide.visualstudio": {
+      "version": "2.0.22",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.test-framework": "1.1.9"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.ide.vscode": {
+      "version": "1.2.5",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.jobs": {
+      "version": "0.70.0-preview.7",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.collections": "1.4.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.mathematics": {
+      "version": "1.2.6",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.nuget.mono-cecil": {
+      "version": "1.11.4",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.nuget.newtonsoft-json": {
+      "version": "3.2.1",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.render-pipelines.core": {
+      "version": "12.1.15",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.ugui": "1.0.0",
+        "com.unity.modules.physics": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      }
+    },
+    "com.unity.searcher": {
+      "version": "4.9.1",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.shadergraph": {
+      "version": "12.1.15",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.render-pipelines.core": "12.1.15",
+        "com.unity.searcher": "4.9.1"
+      }
+    },
+    "com.unity.test-framework": {
+      "version": "1.1.33",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.ext.nunit": "1.0.6",
+        "com.unity.modules.imgui": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.textmeshpro": {
+      "version": "3.0.6",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.ugui": "1.0.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.timeline": {
+      "version": "1.6.5",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.modules.director": "1.0.0",
+        "com.unity.modules.animation": "1.0.0",
+        "com.unity.modules.audio": "1.0.0",
+        "com.unity.modules.particlesystem": "1.0.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.ugui": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.ui": "1.0.0",
+        "com.unity.modules.imgui": "1.0.0"
+      }
+    },
+    "com.unity.visualscripting": {
+      "version": "1.9.4",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.ugui": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      },
+      "url": "https://packages.unity.cn"
+    },
+    "com.unity.modules.ai": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.androidjni": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.animation": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.assetbundle": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.audio": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.cloth": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics": "1.0.0"
+      }
+    },
+    "com.unity.modules.director": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.audio": "1.0.0",
+        "com.unity.modules.animation": "1.0.0"
+      }
+    },
+    "com.unity.modules.imageconversion": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.imgui": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.jsonserialize": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.particlesystem": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.physics": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.physics2d": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.screencapture": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.imageconversion": "1.0.0"
+      }
+    },
+    "com.unity.modules.subsystems": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.jsonserialize": "1.0.0"
+      }
+    },
+    "com.unity.modules.terrain": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.terrainphysics": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics": "1.0.0",
+        "com.unity.modules.terrain": "1.0.0"
+      }
+    },
+    "com.unity.modules.tilemap": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics2d": "1.0.0"
+      }
+    },
+    "com.unity.modules.ui": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.uielements": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.ui": "1.0.0",
+        "com.unity.modules.imgui": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.uielementsnative": "1.0.0"
+      }
+    },
+    "com.unity.modules.uielementsnative": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.ui": "1.0.0",
+        "com.unity.modules.imgui": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      }
+    },
+    "com.unity.modules.umbra": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.unityanalytics": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.unitywebrequest": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0"
+      }
+    },
+    "com.unity.modules.unitywebrequest": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.unitywebrequestassetbundle": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.assetbundle": "1.0.0",
+        "com.unity.modules.unitywebrequest": "1.0.0"
+      }
+    },
+    "com.unity.modules.unitywebrequestaudio": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.unitywebrequest": "1.0.0",
+        "com.unity.modules.audio": "1.0.0"
+      }
+    },
+    "com.unity.modules.unitywebrequesttexture": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.unitywebrequest": "1.0.0",
+        "com.unity.modules.imageconversion": "1.0.0"
+      }
+    },
+    "com.unity.modules.unitywebrequestwww": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.unitywebrequest": "1.0.0",
+        "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
+        "com.unity.modules.unitywebrequestaudio": "1.0.0",
+        "com.unity.modules.audio": "1.0.0",
+        "com.unity.modules.assetbundle": "1.0.0",
+        "com.unity.modules.imageconversion": "1.0.0"
+      }
+    },
+    "com.unity.modules.vehicles": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics": "1.0.0"
+      }
+    },
+    "com.unity.modules.video": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.audio": "1.0.0",
+        "com.unity.modules.ui": "1.0.0",
+        "com.unity.modules.unitywebrequest": "1.0.0"
+      }
+    },
+    "com.unity.modules.vr": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.physics": "1.0.0",
+        "com.unity.modules.xr": "1.0.0"
+      }
+    },
+    "com.unity.modules.wind": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
+    "com.unity.modules.xr": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.subsystems": "1.0.0"
+      }
+    }
+  }
+}
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diff --git a/xiaofang/ProjectSettings/VFXManager.asset b/xiaofang/ProjectSettings/VFXManager.asset
new file mode 100644
index 00000000..bd59660b
--- /dev/null
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diff --git a/xiaofang/ProjectSettings/VersionControlSettings.asset b/xiaofang/ProjectSettings/VersionControlSettings.asset
new file mode 100644
index 00000000..dca28814
--- /dev/null
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diff --git a/xiaofang/ProjectSettings/boot.config b/xiaofang/ProjectSettings/boot.config
new file mode 100644
index 00000000..e69de29b
diff --git a/xiaofang/UserSettings/EditorUserSettings.asset b/xiaofang/UserSettings/EditorUserSettings.asset
new file mode 100644
index 00000000..2f2d1262
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diff --git a/xiaofang/UserSettings/Search.settings b/xiaofang/UserSettings/Search.settings
new file mode 100644
index 00000000..9e26dfee
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\ No newline at end of file