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BlittableTransformの最適化

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This commit is contained in:
AoiKamishiro
2025-06-30 02:07:41 +09:00
parent e5f6819b6d
commit 022e23b6d5
7 changed files with 249 additions and 121 deletions
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2
Assets/UniGLTF/Runtime/SpringBoneJobs/Blittables/BlittableJointMutable.cs
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@@ -17,7 +17,7 @@ namespace UniGLTF.SpringBoneJobs.Blittables
public float stiffnessForce => _data.c0.x;
public float gravityPower => _data.c0.y;
public Vector3 gravityDir => _data.c1.xyz;
public float3 gravityDir => _data.c1.xyz;
public float dragForce => _data.c0.z;
public float radius => _data.c0.w;

2
Assets/UniGLTF/Runtime/SpringBoneJobs/Blittables/BlittableModelLevel.cs
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@@ -10,7 +10,7 @@ namespace UniGLTF.SpringBoneJobs.Blittables
/// <summary>
/// World 座標系の追加の力。風など。
/// </summary>
public Vector3 ExternalForce => _data.xyz;
public float3 ExternalForce => _data.xyz;
/// <summary>
/// 処理結果の Transform への書き戻しを停止する。

129
Assets/UniGLTF/Runtime/SpringBoneJobs/Blittables/BlittableTransform.cs
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@@ -1,5 +1,5 @@
using System;
using UnityEngine;
using Unity.Mathematics;
namespace UniGLTF.SpringBoneJobs.Blittables
{
@@ -7,14 +7,125 @@ namespace UniGLTF.SpringBoneJobs.Blittables
/// Transformの必要な機能だけを絞り、Blittableに対応させたクラス
/// </summary>
[Serializable]
public struct BlittableTransform
public readonly struct BlittableTransform
{
public Vector3 position;
public Quaternion rotation;
public Vector3 localPosition;
public Quaternion localRotation;
public Vector3 localScale;
public Matrix4x4 localToWorldMatrix;
public Matrix4x4 worldToLocalMatrix;
public readonly float3 position;
public readonly quaternion rotation;
public readonly float3 localPosition;
public readonly quaternion localRotation;
public readonly float3 localScale;
public readonly float4x4 localToWorldMatrix;
public readonly float4x4 worldToLocalMatrix;
public float3 lossyScale
{
get
{
float4x4 tr = float4x4.TRS(position, rotation, new float3(1.0f, 1.0f, 1.0f));
float4x4 m = math.mul(math.inverse(tr), localToWorldMatrix);
return new float3(m.c0.x, m.c1.y, m.c2.z);
}
}
public BlittableTransform(
float3 position = default,
quaternion rotation = default,
float3 localPosition = default,
quaternion localRotation = default,
float3 localScale = default,
float4x4 localToWorldMatrix = default,
float4x4 worldToLocalMatrix = default)
{
this.position = position;
this.rotation = rotation;
this.localPosition = localPosition;
this.localRotation = localRotation;
this.localScale = localScale;
this.localToWorldMatrix = localToWorldMatrix;
this.worldToLocalMatrix = worldToLocalMatrix;
}
public BlittableTransform SetPosition(float3 newPosition)
{
return new BlittableTransform(
position: newPosition,
rotation: rotation,
localPosition: localPosition,
localRotation: localRotation,
localScale: localScale,
localToWorldMatrix: localToWorldMatrix,
worldToLocalMatrix: worldToLocalMatrix);
}
public BlittableTransform SetRotation(quaternion newRotation)
{
return new BlittableTransform(
position: position,
rotation: newRotation,
localPosition: localPosition,
localRotation: localRotation,
localScale: localScale,
localToWorldMatrix: localToWorldMatrix,
worldToLocalMatrix: worldToLocalMatrix);
}
public BlittableTransform SetLocalPosition(float3 newLocalPosition)
{
return new BlittableTransform(
position: position,
rotation: rotation,
localPosition: newLocalPosition,
localRotation: localRotation,
localScale: localScale,
localToWorldMatrix: localToWorldMatrix,
worldToLocalMatrix: worldToLocalMatrix);
}
public BlittableTransform SetLocalRotation(quaternion newLocalRotation)
{
return new BlittableTransform(
position: position,
rotation: rotation,
localPosition: localPosition,
localRotation: newLocalRotation,
localScale: localScale,
localToWorldMatrix: localToWorldMatrix,
worldToLocalMatrix: worldToLocalMatrix);
}
public BlittableTransform SetLocalScale(float3 newLocalScale)
{
return new BlittableTransform(
position: position,
rotation: rotation,
localPosition: localPosition,
localRotation: localRotation,
localScale: newLocalScale,
localToWorldMatrix: localToWorldMatrix,
worldToLocalMatrix: worldToLocalMatrix);
}
public BlittableTransform SetLocalToWorldMatrix(float4x4 newLocalToWorldMatrix)
{
return new BlittableTransform(
position: position,
rotation: rotation,
localPosition: localPosition,
localRotation: localRotation,
localScale: localScale,
localToWorldMatrix: newLocalToWorldMatrix,
worldToLocalMatrix: math.inverse(newLocalToWorldMatrix));
}
public BlittableTransform SetWorldToLocalMatrix(float4x4 newWorldToLocalMatrix)
{
return new BlittableTransform(
position: position,
rotation: rotation,
localPosition: localPosition,
localRotation: localRotation,
localScale: localScale,
localToWorldMatrix: math.inverse(newWorldToLocalMatrix),
worldToLocalMatrix: newWorldToLocalMatrix);
}
}
}

27
Assets/UniGLTF/Runtime/SpringBoneJobs/FastSpringBoneConbinedBuffer.cs
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@@ -9,6 +9,7 @@ using UniGLTF.SpringBoneJobs.Blittables;
using UniGLTF.SpringBoneJobs.InputPorts;
using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
using UnityEngine;
using UnityEngine.Jobs;
using UnityEngine.Profiling;
@@ -23,9 +24,9 @@ namespace UniGLTF.SpringBoneJobs
// Joint Level
private NativeArray<BlittableJointImmutable> _logics;
private NativeArray<BlittableJointMutable> _joints;
private NativeArray<Vector3> _prevTails;
private NativeArray<Vector3> _currentTails;
private NativeArray<Vector3> _nextTails;
private NativeArray<float3> _prevTails;
private NativeArray<float3> _currentTails;
private NativeArray<float3> _nextTails;
// Spring Level
private NativeArray<BlittableSpring> _springs;
// Moodel Level
@@ -39,9 +40,9 @@ namespace UniGLTF.SpringBoneJobs
// accessor: Joint Level
public NativeArray<BlittableJointImmutable> Logics => _logics;
public NativeArray<BlittableJointMutable> Joints => _joints;
public NativeArray<Vector3> PrevTails => _prevTails;
public NativeArray<Vector3> CurrentTails => _currentTails;
public NativeArray<Vector3> NextTails => _nextTails;
public NativeArray<float3> PrevTails => _prevTails;
public NativeArray<float3> CurrentTails => _currentTails;
public NativeArray<float3> NextTails => _nextTails;
// accessor: Spring Level
public NativeArray<BlittableSpring> Springs => _springs;
// accessor: Model LEvel
@@ -64,9 +65,9 @@ namespace UniGLTF.SpringBoneJobs
// joint level
_logics = new NativeArray<BlittableJointImmutable>(logicsCount, Allocator.Persistent);
_joints = new NativeArray<BlittableJointMutable>(logicsCount, Allocator.Persistent);
_prevTails = new NativeArray<Vector3>(logicsCount, Allocator.Persistent);
_currentTails = new NativeArray<Vector3>(logicsCount, Allocator.Persistent);
_nextTails = new NativeArray<Vector3>(logicsCount, Allocator.Persistent);
_prevTails = new NativeArray<float3>(logicsCount, Allocator.Persistent);
_currentTails = new NativeArray<float3>(logicsCount, Allocator.Persistent);
_nextTails = new NativeArray<float3>(logicsCount, Allocator.Persistent);
// spring level
_springs = new NativeArray<BlittableSpring>(springsCount, Allocator.Persistent);
// model level
@@ -297,9 +298,9 @@ namespace UniGLTF.SpringBoneJobs
[ReadOnly] public NativeArray<BlittableJointImmutable> Logics;
[ReadOnly] public NativeArray<BlittableTransform> Transforms;
[NativeDisableParallelForRestriction] public NativeSlice<Vector3> CurrentTails;
[NativeDisableParallelForRestriction] public NativeSlice<Vector3> PrevTails;
[NativeDisableParallelForRestriction] public NativeSlice<Vector3> NextTails;
[NativeDisableParallelForRestriction] public NativeSlice<float3> CurrentTails;
[NativeDisableParallelForRestriction] public NativeSlice<float3> PrevTails;
[NativeDisableParallelForRestriction] public NativeSlice<float3> NextTails;
public void Execute(int springIndex)
{
@@ -324,7 +325,7 @@ namespace UniGLTF.SpringBoneJobs
}
var tail = Transforms[tailIndex];
var tailPos = center.HasValue ? center.Value.worldToLocalMatrix.MultiplyPoint3x4(tail.position) : tail.position;
var tailPos = center.HasValue ? math.mul(center.Value.worldToLocalMatrix, new float4(tail.position, 1.0f)).xyz : tail.position;
CurrentTails[jointIndex] = tailPos;
PrevTails[jointIndex] = tailPos;
NextTails[jointIndex] = tailPos;

27
Assets/UniGLTF/Runtime/SpringBoneJobs/InputPorts/FastSpringBoneBuffer.cs
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@@ -2,9 +2,10 @@ using System;
using System.Collections.Generic;
using System.Linq;
using Unity.Collections;
using UnityEngine;
using UnityEngine.Profiling;
using UniGLTF.SpringBoneJobs.Blittables;
using Unity.Mathematics;
using UnityEngine;
namespace UniGLTF.SpringBoneJobs.InputPorts
{
@@ -22,8 +23,8 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
public NativeArray<BlittableJointMutable> Joints { get; }
public NativeArray<BlittableCollider> Colliders { get; }
public NativeArray<BlittableJointImmutable> Logics { get; }
private NativeArray<Vector3> _currentTailsBackup;
private NativeArray<Vector3> _nextTailsBackup;
private NativeArray<float3> _currentTailsBackup;
private NativeArray<float3> _nextTailsBackup;
public Transform[] Transforms { get; }
/// <summary>
@@ -113,7 +114,7 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
var localPosition = tailJoint.Transform.localPosition;
var scale = tailJoint.Transform.lossyScale;
var localChildPosition = new Vector3(
var localChildPosition = new float3(
localPosition.x * scale.x,
localPosition.y * scale.y,
localPosition.z * scale.z
@@ -124,12 +125,12 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
parentTransformIndex: Array.IndexOf<Transform>(Transforms, joint.Transform.parent),
tailTransformIndex: Array.IndexOf<Transform>(Transforms, tailJoint.Transform),
localRotation: joint.DefaultLocalRotation,
boneAxis: localChildPosition.normalized,
length: localChildPosition.magnitude);
boneAxis: math.normalize(localChildPosition),
length: math.length(localChildPosition));
}
}
public void BackupCurrentTails(NativeArray<Vector3> currentTails, NativeArray<Vector3> nextTails, int offset)
public void BackupCurrentTails(NativeArray<float3> currentTails, NativeArray<float3> nextTails, int offset)
{
if (!Logics.IsCreated || Logics.Length == 0)
{
@@ -143,16 +144,16 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
{
_nextTailsBackup = new(Logics.Length, Allocator.Persistent);
}
NativeArray<Vector3>.Copy(currentTails, offset, _currentTailsBackup, 0, Logics.Length);
NativeArray<Vector3>.Copy(nextTails, offset, _nextTailsBackup, 0, Logics.Length);
NativeArray<float3>.Copy(currentTails, offset, _currentTailsBackup, 0, Logics.Length);
NativeArray<float3>.Copy(nextTails, offset, _nextTailsBackup, 0, Logics.Length);
}
public void RestoreCurrentTails(NativeArray<Vector3> currentTails, NativeArray<Vector3> nextTails, int offset)
public void RestoreCurrentTails(NativeArray<float3> currentTails, NativeArray<float3> nextTails, int offset)
{
if (_currentTailsBackup.IsCreated)
{
NativeArray<Vector3>.Copy(_currentTailsBackup, 0, currentTails, offset, Logics.Length);
NativeArray<Vector3>.Copy(_nextTailsBackup, 0, nextTails, offset, Logics.Length);
NativeArray<float3>.Copy(_currentTailsBackup, 0, currentTails, offset, Logics.Length);
NativeArray<float3>.Copy(_nextTailsBackup, 0, nextTails, offset, Logics.Length);
}
else
{
@@ -161,7 +162,7 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
{
// mark velocity zero
#if UNITY_2022_2_OR_NEWER
currentTails.GetSubArray(offset, Logics.Length).AsSpan().Fill(new Vector3(float.NaN, float.NaN, float.NaN));
currentTails.GetSubArray(offset, Logics.Length).AsSpan().Fill(new float3(float.NaN, float.NaN, float.NaN));
#else
var subArray = currentTails.GetSubArray(offset, Logics.Length);
var value = new Vector3(float.NaN, float.NaN, float.NaN);

20
Assets/UniGLTF/Runtime/SpringBoneJobs/PullTransformJob.cs
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@@ -17,16 +17,16 @@ namespace UniGLTF.SpringBoneJobs
public void Execute(int index, TransformAccess transform)
{
Transforms[index] = new BlittableTransform
{
position = transform.position,
rotation = transform.rotation,
localPosition = transform.localPosition,
localRotation = transform.localRotation,
localScale = transform.localScale,
localToWorldMatrix = transform.localToWorldMatrix,
worldToLocalMatrix = transform.worldToLocalMatrix
};
Transforms[index] = new BlittableTransform(
position: transform.position,
rotation: transform.rotation,
localPosition: transform.localPosition,
localRotation: transform.localRotation,
localScale: transform.localScale,
localToWorldMatrix: transform.localToWorldMatrix,
worldToLocalMatrix: transform.worldToLocalMatrix
);
}
}
}

163
Assets/UniGLTF/Runtime/SpringBoneJobs/UpdateFastSpringBoneJob.cs
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@@ -1,8 +1,8 @@
using System;
using Unity.Collections;
using Unity.Jobs;
using UnityEngine;
using UniGLTF.SpringBoneJobs.Blittables;
using Unity.Mathematics;
#if ENABLE_SPRINGBONE_BURST
using Unity.Burst;
#endif
@@ -26,10 +26,10 @@ namespace UniGLTF.SpringBoneJobs
// Joints, Logics, PrevTail, CurrentTail, NextTail は同じ index
[ReadOnly] public NativeArray<BlittableJointMutable> Joints;
[ReadOnly] public NativeArray<BlittableJointImmutable> Logics;
[ReadOnly] public NativeArray<Vector3> PrevTail;
[ReadOnly] public NativeArray<Vector3> CurrentTail;
[ReadOnly] public NativeArray<float3> PrevTail;
[ReadOnly] public NativeArray<float3> CurrentTail;
// 処理後の tail 位置(ランダムアクセス)
[NativeDisableParallelForRestriction] public NativeArray<Vector3> NextTail;
[NativeDisableParallelForRestriction] public NativeArray<float3> NextTail;
// Spring Level
[ReadOnly] public NativeArray<BlittableSpring> Springs;
// Model Level
@@ -67,43 +67,54 @@ namespace UniGLTF.SpringBoneJobs
// 親があったら、親に依存するTransformを再計算
if (parentTransform.HasValue)
{
headTransform.position =
parentTransform.Value.localToWorldMatrix.MultiplyPoint3x4(headTransform.localPosition);
headTransform.rotation = parentTransform.Value.rotation * headTransform.localRotation;
var newPosition = MultiplyPoint3x4(parentTransform.Value.localToWorldMatrix, headTransform.localPosition);
var newRotation = math.mul(parentTransform.Value.rotation, headTransform.localRotation);
headTransform = new BlittableTransform(
position: newPosition,
rotation: newRotation,
localPosition: headTransform.localPosition,
localRotation: headTransform.localRotation,
localScale: headTransform.localScale,
localToWorldMatrix: headTransform.localToWorldMatrix,
worldToLocalMatrix: headTransform.worldToLocalMatrix);
headTransform = headTransform.SetPosition(MultiplyPoint3x4(parentTransform.Value.localToWorldMatrix, headTransform.localPosition));
headTransform = headTransform.SetRotation(math.mul(parentTransform.Value.rotation, headTransform.localRotation));
}
var currentTail = centerTransform.HasValue
? centerTransform.Value.localToWorldMatrix.MultiplyPoint3x4(CurrentTail[logicIndex])
? MultiplyPoint3x4(centerTransform.Value.localToWorldMatrix, CurrentTail[logicIndex])
: CurrentTail[logicIndex];
var prevTail = centerTransform.HasValue
? centerTransform.Value.localToWorldMatrix.MultiplyPoint3x4(PrevTail[logicIndex])
? MultiplyPoint3x4(centerTransform.Value.localToWorldMatrix, PrevTail[logicIndex])
: PrevTail[logicIndex];
var parentRotation = parentTransform?.rotation ?? Quaternion.identity;
var parentRotation = parentTransform?.rotation ?? quaternion.identity;
// scaling 対応
var scalingFactor = model.SupportsScalingAtRuntime ? TransformExtensions.AbsoluteMaxValue(headTransform.localToWorldMatrix.lossyScale) : 1.0f;
var scalingFactor = model.SupportsScalingAtRuntime ? TransformExtensions.AbsoluteMaxValue(headTransform.lossyScale) : 1.0f;
// verlet積分で次の位置を計算
var external = (joint.gravityDir * joint.gravityPower + model.ExternalForce) * DeltaTime;
var nextTail = currentTail
+ (currentTail - prevTail) * (1.0f - joint.dragForce) // 前フレームの移動を継続する(減衰もあるよ)
+ parentRotation * logic.localRotation * logic.boneAxis *
+ math.mul(math.mul(parentRotation, logic.localRotation), logic.boneAxis) *
joint.stiffnessForce * DeltaTime * scalingFactor // 親の回転による子ボーンの移動目標
+ external * scalingFactor; // 外力による移動量
// 長さをboneLengthに強制
nextTail = headTransform.position + (nextTail - headTransform.position).normalized * logic.length;
nextTail = headTransform.position + math.normalize(nextTail - headTransform.position) * logic.length;
// Collisionで移動
for (var colliderIndex = colliderSpan.startIndex; colliderIndex < colliderSpan.startIndex + colliderSpan.count; ++colliderIndex)
{
var collider = Colliders[colliderIndex];
var colliderTransform = Transforms[collider.transformIndex + transformIndexOffset];
var colliderScale = colliderTransform.localToWorldMatrix.lossyScale;
var maxColliderScale = Mathf.Max(Mathf.Max(Mathf.Abs(colliderScale.x), Mathf.Abs(colliderScale.y)), Mathf.Abs(colliderScale.z));
var worldPosition = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.offset);
var worldTail = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.tailOrNormal);
var colliderScale = colliderTransform.lossyScale;
var maxColliderScale = math.max(math.max(math.abs(colliderScale.x), math.abs(colliderScale.y)), math.abs(colliderScale.z));
var worldPosition = MultiplyPoint3x4(colliderTransform.localToWorldMatrix, collider.offset);
var worldTail = MultiplyPoint3x4(colliderTransform.localToWorldMatrix, collider.tailOrNormal);
switch (collider.colliderType)
{
@@ -133,38 +144,35 @@ namespace UniGLTF.SpringBoneJobs
}
NextTail[logicIndex] = centerTransform.HasValue
? centerTransform.Value.worldToLocalMatrix.MultiplyPoint3x4(nextTail)
? MultiplyPoint3x4(centerTransform.Value.worldToLocalMatrix, nextTail)
: nextTail;
//回転を適用
var rotation = parentRotation * logic.localRotation;
headTransform.rotation = Quaternion.FromToRotation(rotation * logic.boneAxis,
nextTail - headTransform.position) * rotation;
var rotation = math.mul(parentRotation, logic.localRotation);
headTransform = headTransform.SetRotation(UnityEngine.Quaternion.FromToRotation(math.mul(rotation, logic.boneAxis),
nextTail - headTransform.position) * rotation);
// Transformを更新
if (parentTransform.HasValue)
{
var parentLocalToWorldMatrix = parentTransform.Value.localToWorldMatrix;
headTransform.localRotation = Normalize(Quaternion.Inverse(parentTransform.Value.rotation) * headTransform.rotation);
headTransform.localToWorldMatrix =
parentLocalToWorldMatrix *
Matrix4x4.TRS(
headTransform.localPosition,
headTransform.localRotation,
headTransform.localScale
);
headTransform.worldToLocalMatrix = headTransform.localToWorldMatrix.inverse;
headTransform = headTransform.SetLocalRotation(math.normalize(math.mul(math.inverse(parentTransform.Value.rotation), headTransform.rotation)));
headTransform = headTransform.SetLocalToWorldMatrix(math.mul(
parentLocalToWorldMatrix,
float4x4.TRS(
headTransform.localPosition,
headTransform.localRotation,
headTransform.localScale
)));
}
else
{
headTransform.localToWorldMatrix =
Matrix4x4.TRS(
headTransform.position,
headTransform.rotation,
headTransform.localScale
);
headTransform.worldToLocalMatrix = headTransform.localToWorldMatrix.inverse;
headTransform.localRotation = headTransform.rotation;
headTransform = headTransform.SetLocalToWorldMatrix(float4x4.TRS(
headTransform.position,
headTransform.rotation,
headTransform.localScale
));
headTransform = headTransform.SetLocalRotation(headTransform.rotation);
}
if (!model.StopSpringBoneWriteback)
@@ -180,42 +188,33 @@ namespace UniGLTF.SpringBoneJobs
}
}
/// <summary>
/// BurstではMathfがエラーを吐くため、内部でMathfを呼ばないNormalizeを自前実装
/// </summary>
private static Quaternion Normalize(Quaternion q)
{
var num = (float)Math.Sqrt(Quaternion.Dot(q, q));
return num < float.Epsilon ? Quaternion.identity : new Quaternion(q.x / num, q.y / num, q.z / num, q.w / num);
}
private static void ResolveCapsuleCollision(
Vector3 worldTail,
Vector3 worldPosition,
float3 worldTail,
float3 worldPosition,
BlittableTransform headTransform,
BlittableJointMutable joint,
BlittableCollider collider,
float maxColliderScale,
BlittableJointImmutable logic,
ref Vector3 nextTail)
ref float3 nextTail)
{
var direction = worldTail - worldPosition;
if (direction.sqrMagnitude == 0)
if (math.lengthsq(direction) == 0)
{
// head側半球の球判定
ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
return;
}
var P = direction.normalized;
var P = math.normalize(direction);
var Q = headTransform.position - worldPosition;
var dot = Vector3.Dot(P, Q);
var dot = math.dot(P, Q);
if (dot <= 0)
{
// head側半球の球判定
ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
return;
}
if (dot >= direction.magnitude)
if (dot >= math.length(direction))
{
// tail側半球の球判定
ResolveSphereCollision(joint, collider, worldTail, headTransform, maxColliderScale, logic, ref nextTail);
@@ -230,20 +229,20 @@ namespace UniGLTF.SpringBoneJobs
private static void ResolveSphereCollision(
BlittableJointMutable joint,
BlittableCollider collider,
Vector3 worldPosition,
float3 worldPosition,
BlittableTransform headTransform,
float maxColliderScale,
BlittableJointImmutable logic,
ref Vector3 nextTail)
ref float3 nextTail)
{
var r = joint.radius + collider.radius * maxColliderScale;
if (Vector3.SqrMagnitude(nextTail - worldPosition) <= (r * r))
if (math.lengthsq(nextTail - worldPosition) <= (r * r))
{
// ヒット。Colliderの半径方向に押し出す
var normal = (nextTail - worldPosition).normalized;
var normal = math.normalize(nextTail - worldPosition);
var posFromCollider = worldPosition + normal * r;
// 長さをboneLengthに強制
nextTail = headTransform.position + (posFromCollider - headTransform.position).normalized * logic.length;
nextTail = headTransform.position + math.normalize(posFromCollider - headTransform.position) * logic.length;
}
}
@@ -251,18 +250,18 @@ namespace UniGLTF.SpringBoneJobs
BlittableJointMutable joint,
BlittableCollider collider,
BlittableTransform colliderTransform,
ref Vector3 nextTail)
ref float3 nextTail)
{
var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
var transformedOffset = MultiplyPoint(colliderTransform.localToWorldMatrix, collider.offset);
var delta = nextTail - transformedOffset;
// ジョイントとコライダーの距離。負の値は衝突していることを示す
var distance = collider.radius - joint.radius - delta.magnitude;
var distance = collider.radius - joint.radius - math.length(delta);
// ジョイントとコライダーの距離の方向。衝突している場合、この方向にジョイントを押し出す
if (distance < 0)
{
var direction = -delta.normalized;
var direction = -1 * math.normalize(delta);
nextTail -= direction * distance;
}
}
@@ -271,15 +270,15 @@ namespace UniGLTF.SpringBoneJobs
BlittableJointMutable joint,
BlittableCollider collider,
BlittableTransform colliderTransform,
ref Vector3 nextTail)
ref float3 nextTail)
{
var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
var transformedTail = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.tailOrNormal);
var transformedOffset = MultiplyPoint(colliderTransform.localToWorldMatrix, collider.offset);
var transformedTail = MultiplyPoint(colliderTransform.localToWorldMatrix, collider.tailOrNormal);
var offsetToTail = transformedTail - transformedOffset;
var lengthSqCapsule = offsetToTail.sqrMagnitude;
var lengthSqCapsule = math.lengthsq(offsetToTail);
var delta = nextTail - transformedOffset;
var dot = Vector3.Dot(offsetToTail, delta);
var dot = math.dot(offsetToTail, delta);
if (dot < 0.0)
{
@@ -298,12 +297,12 @@ namespace UniGLTF.SpringBoneJobs
}
// ジョイントとコライダーの距離。負の値は衝突していることを示す
var distance = collider.radius - joint.radius - delta.magnitude;
var distance = collider.radius - joint.radius - math.length(delta);
// ジョイントとコライダーの距離の方向。衝突している場合、この方向にジョイントを押し出す
if (distance < 0)
{
var direction = -delta.normalized;
var direction = -1 * math.normalize(delta);
nextTail -= direction * distance;
}
}
@@ -320,14 +319,14 @@ namespace UniGLTF.SpringBoneJobs
BlittableJointMutable joint,
BlittableCollider collider,
BlittableTransform colliderTransform,
ref Vector3 nextTail)
ref float3 nextTail)
{
var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
var transformedNormal = colliderTransform.localToWorldMatrix.MultiplyVector(collider.tailOrNormal).normalized;
var transformedOffset = MultiplyPoint(colliderTransform.localToWorldMatrix, collider.offset);
var transformedNormal = math.normalize(MultiplyVector(colliderTransform.localToWorldMatrix, collider.tailOrNormal));
var delta = nextTail - transformedOffset;
// ジョイントとコライダーの距離。負の値は衝突していることを示す
var distance = Vector3.Dot(delta, transformedNormal) - joint.radius;
var distance = math.dot(delta, transformedNormal) - joint.radius;
if (distance < 0)
{
@@ -336,5 +335,21 @@ namespace UniGLTF.SpringBoneJobs
nextTail -= direction * distance;
}
}
private static float3 MultiplyPoint3x4(float4x4 matrix, float3 point)
{
return math.mul(matrix, new float4(point, 1)).xyz;
}
private static float3 MultiplyPoint(float4x4 matrix, float3 point)
{
var v = math.mul(matrix, new float4(point, 1.0f));
return v.xyz / v.w;
}
private static float3 MultiplyVector(float4x4 matrix, float3 vector)
{
return math.mul(matrix, new float4(vector, 0)).xyz;
}
}
}