315 lines
9.8 KiB
Plaintext
315 lines
9.8 KiB
Plaintext
#include "GridUtils.cginc"
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#include "CollisionMaterial.cginc"
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#include "ContactHandling.cginc"
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#include "ColliderDefinitions.cginc"
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#include "Rigidbody.cginc"
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#include "Bounds.cginc"
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#include "Simplex.cginc"
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#include "SolverParameters.cginc"
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#include "AtomicDeltas.cginc"
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#include "Phases.cginc"
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#include "QueryDefinitions.cginc"
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#define MAX_RESULTS_PER_SIMPLEX 32
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#pragma kernel Clear
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#pragma kernel BuildUnsortedList
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#pragma kernel FindPopulatedLevels
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#pragma kernel SortList
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#pragma kernel BuildContactList
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#pragma kernel PrefixSumColliderCounts
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#pragma kernel SortContactPairs
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StructuredBuffer<float4> positions;
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StructuredBuffer<quaternion> orientations;
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StructuredBuffer<float4> principalRadii;
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StructuredBuffer<int> activeParticles;
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StructuredBuffer<int> simplices;
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StructuredBuffer<int> filters;
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RWStructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.
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StructuredBuffer<transform> transforms;
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StructuredBuffer<queryShape> shapes;
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RWStructuredBuffer<uint> sortedColliderIndices;
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RWStructuredBuffer<uint> colliderTypeCounts;
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RWStructuredBuffer<uint> contactOffsetsPerType;
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RWStructuredBuffer<uint2> unsortedContactPairs;
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RWStructuredBuffer<uint> cellIndices;
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RWStructuredBuffer<uint> cellOffsets;
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RWStructuredBuffer<uint> cellCounts;
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RWStructuredBuffer<uint> offsetInCells;
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RWStructuredBuffer<contact> contacts;
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RWStructuredBuffer<uint2> contactPairs;
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RWStructuredBuffer<uint> dispatchBuffer;
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StructuredBuffer<transform> solverToWorld;
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StructuredBuffer<transform> worldToSolver;
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uint maxResults;
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uint queryCount; // amount of colliders in the grid.
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uint cellsPerShape; // max amount of cells a collider can be inserted into. Typically this is 8.
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int shapeTypeCount; // number of different query shapes, ie: box, sphere, ray, etc.
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aabb CalculateShapeAABB(in queryShape shape)
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{
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float offset = shape.contactOffset + shape.maxDistance;
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aabb bounds;
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bounds.min_ = FLT_MAX;
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bounds.max_ = FLT_MIN;
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switch (shape.type)
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{
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case SPHERE_QUERY:
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bounds.FromParticle(shape.center, shape.size.x + offset); break;
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case BOX_QUERY:
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bounds.FromEdge(shape.center - shape.size*0.5f, shape.center + shape.size * 0.5f, offset); break;
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case RAY_QUERY:
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bounds.FromEdge(shape.center, shape.center + shape.size, offset); break;
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}
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return bounds;
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}
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[numthreads(128, 1, 1)]
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void Clear (uint3 id : SV_DispatchThreadID)
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{
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unsigned int i = id.x;
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if (i == 0)
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{
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for (int l = 0; l <= GRID_LEVELS; ++l)
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levelPopulation[l] = 0;
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}
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// clear all cell offsets to invalid, so that we can later use atomic minimum to calculate the offset.
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if (i < maxCells)
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{
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cellOffsets[i] = INVALID;
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cellCounts[i] = 0;
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}
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// clear all cell indices to invalid.
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if (i < queryCount)
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{
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for (uint j = 0; j < cellsPerShape; ++j)
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cellIndices[i*cellsPerShape+j] = INVALID;
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}
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}
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[numthreads(128, 1, 1)]
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void BuildUnsortedList (uint3 id : SV_DispatchThreadID)
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{
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unsigned int i = id.x;
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if (i >= queryCount) return;
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// get bounds in solver space:
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aabb bounds = CalculateShapeAABB(shapes[i]).Transformed(worldToSolver[0].Multiply(transforms[i]));
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// calculate bounds size, grid level and cell size:
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float4 size = bounds.max_ - bounds.min_;
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float maxSize = max(max (size.x, size.y), size.z);
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int level = GridLevelForSize(maxSize);
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float cellSize = CellSizeOfLevel(level);
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// calculate max and min cell coordinates (force 4th component to zero, might not be after expanding)
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int4 minCell = floor(bounds.min_ / cellSize);
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int4 maxCell = floor(bounds.max_ / cellSize);
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minCell[3] = 0;
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maxCell[3] = 0;
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int4 cellSpan = maxCell - minCell;
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// insert collider in cells:
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for (int x = 0; x <= cellSpan[0]; ++x)
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{
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for (int y = 0; y <= cellSpan[1]; ++y)
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{
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for (int z = 0; z <= cellSpan[2]; ++z)
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{
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int cellIndex = GridHash(minCell + int4(x, y, z, level));
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// calculate flat index of this cell into arrays:
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int k = x + y*2 + z*4 + i*cellsPerShape;
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cellIndices[k] = cellIndex;
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InterlockedAdd(cellCounts[cellIndex],1,offsetInCells[k]);
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}
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}
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}
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// atomically increase this level's population by one:
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InterlockedAdd(levelPopulation[1 + level],1);
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}
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[numthreads(128, 1, 1)]
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void SortList (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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if (i >= queryCount * cellsPerShape) return;
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uint cellIndex = cellIndices[i];
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if (cellIndex != INVALID)
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{
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// write shape to its sorted index:
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uint sortedIndex = cellOffsets[cellIndex] + offsetInCells[i];
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sortedColliderIndices[sortedIndex] = i;
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}
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}
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[numthreads(128, 1, 1)]
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void BuildContactList (uint3 id : SV_DispatchThreadID)
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{
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unsigned int threadIndex = id.x;
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if (threadIndex >= pointCount + edgeCount + triangleCount) return;
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uint cellCount = queryCount * cellsPerShape;
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int candidateCount = 0;
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uint candidates[MAX_RESULTS_PER_SIMPLEX];
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int simplexSize;
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int simplexStart = GetSimplexStartAndSize(threadIndex, simplexSize);
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aabb b = simplexBounds[threadIndex];
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// max size of the particle bounds in cells:
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int4 maxSize = int4(10,10,10,10);
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// build a list of candidate colliders:
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for (uint m = 1; m <= levelPopulation[0]; ++m)
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{
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uint l = levelPopulation[m];
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float cellSize = CellSizeOfLevel(l);
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int4 minCell = floor(b.min_ / cellSize);
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int4 maxCell = floor(b.max_ / cellSize);
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maxCell = minCell + min(maxCell - minCell, maxSize);
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for (int x = minCell[0]; x <= maxCell[0]; ++x)
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{
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for (int y = minCell[1]; y <= maxCell[1]; ++y)
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{
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for (int z = minCell[2]; z <= maxCell[2]; ++z)
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{
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uint flatCellIndex = GridHash(int4(x,y,z,l));
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uint cellStart = cellOffsets[flatCellIndex];
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uint cellCount = cellCounts[flatCellIndex];
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// iterate through queries in the neighbour cell
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for (uint n = cellStart; n < cellStart + cellCount; ++n)
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{
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if (candidateCount < MAX_RESULTS_PER_SIMPLEX)
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candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerShape;
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}
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}
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}
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}
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}
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//evaluate candidates and create contacts:
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if (candidateCount > 0)
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{
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// insert sort:
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for (int k = 1; k < candidateCount; ++k)
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{
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uint key = candidates[k];
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int j = k - 1;
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while (j >= 0 && candidates[j] > key)
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candidates[j + 1] = candidates[j--];
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candidates[j + 1] = key;
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}
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// make sure each candidate only shows up once in the list:
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int first = 0, contactCount = 0;
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while(++first != candidateCount)
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{
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if (candidates[contactCount] != candidates[first])
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candidates[++contactCount] = candidates[first];
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}
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contactCount++;
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// append contacts:
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for (int i = 0; i < contactCount; i++)
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{
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int c = candidates[i];
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// get shape bounds in solver space:
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aabb colliderBoundsSS = CalculateShapeAABB(shapes[c]).Transformed(worldToSolver[0].Multiply(transforms[c]));
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// check if any simplex particle and the collider should collide:
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bool shouldCollide = false;
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int colliderCategory = shapes[c].filter & CategoryMask;
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int colliderMask = (shapes[c].filter & MaskMask) >> 16;
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for (int j = 0; j < simplexSize; ++j)
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{
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int simplexCategory = filters[simplices[simplexStart + j]] & CategoryMask;
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int simplexMask = (filters[simplices[simplexStart + j]] & MaskMask) >> 16;
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shouldCollide = shouldCollide || ((simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0);
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}
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if (shouldCollide && b.IntersectsAabb(colliderBoundsSS))
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{
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uint count;
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InterlockedAdd(dispatchBuffer[7], 1, count);
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// technically incorrect, as number of pairs != number of contacts but
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// we will ignore either excess pairs or contacts.
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if (count < maxResults)
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{
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// increment the amount of contacts for this shape type:
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InterlockedAdd(colliderTypeCounts[shapes[c].type],1);
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// enqueue a new contact pair:
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unsortedContactPairs[count] = uint2(threadIndex,c);
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InterlockedMax(dispatchBuffer[4],(count + 1) / 128 + 1);
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}
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}
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}
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}
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}
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[numthreads(1, 1, 1)]
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void PrefixSumColliderCounts (uint3 id : SV_DispatchThreadID)
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{
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contactOffsetsPerType[0] = 0;
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int i;
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for (i = 0; i < shapeTypeCount; ++i)
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{
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contactOffsetsPerType[i+1] = contactOffsetsPerType[i] + colliderTypeCounts[i];
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// write amount of pairs per collider type in the dispatch buffer:
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dispatchBuffer[8 + i*4] = colliderTypeCounts[i] / 128 + 1;
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dispatchBuffer[8 + i*4 + 3] = colliderTypeCounts[i];
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}
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}
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[numthreads(128, 1, 1)]
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void SortContactPairs (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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if (i >= dispatchBuffer[7] || i >= maxResults) return;
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uint2 pair = unsortedContactPairs[i];
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int shapeType = (int)shapes[pair.y].type;
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// decrement amount of pairs for the given collider type:
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uint count;
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InterlockedAdd(colliderTypeCounts[shapeType],-1, count);
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// write the pair directly at its position in the sorted array:
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contactPairs[contactOffsetsPerType[shapeType] + count - 1] = pair;
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}
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