136 lines
4.6 KiB
Plaintext
136 lines
4.6 KiB
Plaintext
#include "ColliderDefinitions.cginc"
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#include "QueryDefinitions.cginc"
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#include "ContactHandling.cginc"
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#include "Transform.cginc"
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#include "Simplex.cginc"
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#include "Bounds.cginc"
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#include "SolverParameters.cginc"
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#include "Optimization.cginc"
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#pragma kernel GenerateResults
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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> simplices;
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StructuredBuffer<transform> transforms;
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StructuredBuffer<queryShape> shapes;
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StructuredBuffer<uint2> contactPairs;
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StructuredBuffer<int> contactOffsetsPerType;
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RWStructuredBuffer<queryResult> results;
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RWStructuredBuffer<uint> dispatchBuffer;
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StructuredBuffer<transform> worldToSolver;
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uint maxContacts;
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struct Box : IDistanceFunction
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{
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queryShape s;
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transform colliderToSolver;
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void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
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{
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float4 center = s.center * colliderToSolver.scale;
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float4 size = s.size * colliderToSolver.scale * 0.5f;
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// clamp the point to the surface of the box:
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float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
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// get minimum distance for each axis:
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float4 distances = size - abs(pnt);
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if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
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{
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projectedPoint.normal = float4(0,0,0,0);
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projectedPoint.pos = pnt;
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// find minimum distance in all three axes and the axis index:
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if (distances.y < distances.x && distances.y < distances.z)
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{
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projectedPoint.normal[1] = sign(pnt[1]);
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projectedPoint.pos[1] = size[1] * projectedPoint.normal[1];
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}
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else if (distances.z < distances.x && distances.z < distances.y)
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{
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projectedPoint.normal[2] = sign(pnt[2]);
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projectedPoint.pos[2] = size[2] * projectedPoint.normal[2];
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}
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else
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{
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projectedPoint.normal[0] = sign(pnt[0]);
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projectedPoint.pos[0] = size[0] * projectedPoint.normal[0];
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}
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}
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else
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{
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projectedPoint.pos = clamp(pnt, -size, size);
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projectedPoint.normal = normalizesafe(pnt - projectedPoint.pos);
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}
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projectedPoint.pos = colliderToSolver.TransformPointUnscaled(projectedPoint.pos + center + projectedPoint.normal * s.contactOffset);
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projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
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projectedPoint.bary = float4(1,0,0,0);
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}
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};
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[numthreads(128, 1, 1)]
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void GenerateResults (uint3 id : SV_DispatchThreadID)
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{
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uint i = id.x;
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// entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
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if (i >= dispatchBuffer[11 + 4*BOX_QUERY]) return;
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int firstPair = contactOffsetsPerType[BOX_QUERY];
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int simplexIndex = contactPairs[firstPair + i].x;
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int queryIndex = contactPairs[firstPair + i].y;
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queryResult c = (queryResult)0;
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Box boxShape;
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boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
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boxShape.s = shapes[queryIndex];
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int simplexSize;
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int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
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float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
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float4 simplexPoint;
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SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
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simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
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float4 simplexPrevPosition = FLOAT4_ZERO;
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float simplexRadius = 0;
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for (int j = 0; j < simplexSize; ++j)
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{
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int particleIndex = simplices[simplexStart + j];
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simplexPrevPosition += positions[particleIndex] * simplexBary[j];
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simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
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}
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c.queryPoint = surfacePoint.pos;
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c.normal = surfacePoint.normal;
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c.simplexBary = simplexBary;
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c.simplexIndex = simplexIndex;
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c.queryIndex = queryIndex;
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c.dist = dot(simplexPrevPosition - surfacePoint.pos,surfacePoint.normal) - simplexRadius;
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if (c.dist <= boxShape.s.maxDistance)
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{
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uint count = results.IncrementCounter();
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if (count < maxContacts)
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{
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results[count] = c;
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InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
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InterlockedMax(dispatchBuffer[3], count + 1);
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}
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}
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} |