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WIP cloth

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ousttrue
2024-11-23 03:25:41 +09:00
parent 2a6f71df88
commit 42e7819733
3 changed files with 183 additions and 20 deletions
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197
Assets/VRM10_Samples/ClothSample/RotateParticle/Runtime/Jobs/Collision.cs
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@@ -1,3 +1,5 @@
using System;
using SphereTriangle;
using UniGLTF.SpringBoneJobs.Blittables;
using Unity.Collections;
using Unity.Jobs;
@@ -19,39 +21,198 @@ namespace RotateParticle.Jobs
public struct CollisionJob : IJobParallelFor
{
// collider
[ReadOnly] public NativeArray<BlittableCollider> Colliders;
[ReadOnly] public NativeArray<Matrix4x4> CurrentColliders;
// particle
[ReadOnly] public NativeArray<TransformInfo> Info;
[NativeDisableParallelForRestriction] public NativeArray<Vector3> NextPositions;
public void Execute(int particleIndex)
// cloth
[ReadOnly] public NativeArray<bool> ClothUsedParticles;
[ReadOnly] public NativeArray<(SpringConstraint, ClothRect)> ClothRects;
public void Execute(int colliderIndex)
{
var info = Info[particleIndex];
var pos = NextPositions[particleIndex];
for (int colliderIndex = 0; colliderIndex < Colliders.Length; ++colliderIndex)
var collider = Colliders[colliderIndex];
var col_pos = CurrentColliders[colliderIndex].MultiplyPoint(collider.offset);
switch (collider.colliderType)
{
var c = Colliders[colliderIndex];
switch (c.colliderType)
{
case BlittableColliderType.Sphere:
case BlittableColliderType.Sphere:
{
for (int particleIndex = 0; particleIndex < NextPositions.Length; ++particleIndex)
{
var col_pos = CurrentColliders[colliderIndex].MultiplyPoint(c.offset);
var d = Vector3.Distance(pos, col_pos);
var min_d = info.Settings.radius + c.radius;
if (d < min_d)
if (ClothUsedParticles[particleIndex])
{
Vector3 normal = (pos - col_pos).normalized;
pos += normal * (min_d - d);
var info = Info[particleIndex];
var pos = NextPositions[particleIndex];
var d = Vector3.Distance(pos, col_pos);
var min_d = info.Settings.radius + collider.radius;
if (d < min_d)
{
Vector3 normal = (pos - col_pos).normalized;
pos += normal * (min_d - d);
}
NextPositions[particleIndex] = pos;
}
}
break;
default:
for (int rectIndex = 0; rectIndex < ClothRects.Length; ++rectIndex)
{
var (spring, rect) = ClothRects[rectIndex];
// using (new ProfileSample("Rect: Prepare"))
// _s0.BeginFrame();
// _s1.BeginFrame();
var a = NextPositions[rect._a];
var b = NextPositions[rect._b];
var c = NextPositions[rect._c];
var d = NextPositions[rect._d];
// d x-x c
// |/
// a x
var _triangle1 = new Triangle(c, d, a);
// x c
// /|
// a x-x b
var _triangle0 = new Triangle(a, b, c);
// using (new ProfileSample("Rect: Collide"))
{
var aabb = GetBoundsFrom4(a, b, c, d);
if (!aabb.Intersects(GetBounds(collider, col_pos)))
{
continue;
}
// 面の片側だけにヒットさせる
// 行き過ぎて戻るときに素通りする
// var p = _triangle0.Plane.ClosestPointOnPlane(col_pos);
// var dot = Vector3.Dot(_triangle0.Plane.normal, col_pos - p);
// if (_initialColliderNormalSide[collider] * dot < 0)
// {
// // 片側
// continue;
// }
}
if (TryCollide(collider, col_pos, _triangle0, out var l0))
{
// _trinagle0Collision = 1.0f;
NextPositions[rect._a] = l0.GetPoint(collider.radius);
// NextPositions[rect._b]= l0, collider.Radius);
// NextPositions[rect._c]= l0, collider.Radius);
}
if (TryCollide(collider, col_pos, _triangle1, out var l1))
{
// _triangle1Collision = 1.0f;
NextPositions[rect._c] = l1.GetPoint(collider.radius);
// list.CollisionMove(_rect._d, l1, collider.Radius);
// list.CollisionMove(_rect._a, l1, collider.Radius);
}
}
// TODO
break;
}
}
default:
break;
}
}
static bool TryCollide(BlittableCollider collider, Vector3 col_pos, in Triangle t, out LineSegment l)
{
if (collider.colliderType == BlittableColliderType.Capsule)
{
throw new NotImplementedException();
// // capsule
// TriangleCapsuleCollisionSolver.Result result = default;
// // using (new ProfileSample("Capsule: Collide"))
// {
// result = solver.Collide(t, collider, new(collider.HeadWorldPosition, collider.TailWorldPosition), collider.Radius);
// }
// // using (new ProfileSample("Capsule: TryGetClosest"))
// {
// var type = result.TryGetClosest(out l);
// return type.HasValue;
// }
}
else
{
// sphere
// using var profile = new ProfileSample("Sphere");
return TryCollideSphere(t, col_pos, collider.radius, out l);
}
}
/// <summary>
///
/// </summary>
/// <param name="triangle"></param>
/// <param name="collider"></param>
/// <param name="radius"></param>
/// <returns>collider => 衝突点 への線分を返す</returns>
static bool TryCollideSphere(in Triangle triangle, in Vector3 collider, float radius, out LineSegment l)
{
var p = triangle.Plane.ClosestPointOnPlane(collider);
var distance = Vector3.Distance(p, collider);
if (distance > radius)
{
l = default;
return false;
}
if (triangle.IsSameSide(p))
{
l = new LineSegment(collider, p);
return true;
}
var (closestPoint, d) = triangle.GetClosest(collider);
if (d > radius)
{
l = default;
return false;
}
l = new LineSegment(collider, closestPoint);
return true;
}
public static Bounds GetBoundsFrom4(in Vector3 a, in Vector3 b, in Vector3 c, in Vector3 d)
{
var aabb = new Bounds(a, Vector3.zero);
aabb.Encapsulate(b);
aabb.Encapsulate(c);
aabb.Encapsulate(d);
return aabb;
}
public static Bounds GetBounds(BlittableCollider collider, Vector3 col_pos)
{
switch (collider.colliderType)
{
case BlittableColliderType.Capsule:
{
// var h = HeadWorldPosition;
// var t = TailWorldPosition;
// var d = h - t;
// var aabb = new Bounds((h + t) * 0.5f, new Vector3(Mathf.Abs(d.x), Mathf.Abs(d.y), Mathf.Abs(d.z)));
// aabb.Expand(Radius * 2);
// return aabb;
throw new NotImplementedException();
}
case BlittableColliderType.Sphere:
return new Bounds(col_pos, new Vector3(collider.radius, collider.radius, collider.radius));
default:
throw new NotImplementedException();
}
NextPositions[particleIndex] = pos;
}
}
}

4
Assets/VRM10_Samples/ClothSample/RotateParticle/Runtime/Jobs/RotateParticleJobSystem.cs
View File

@@ -334,7 +334,9 @@ namespace RotateParticle.Jobs
CurrentColliders = _currentColliders,
Info = _info,
NextPositions = _nextPositions,
}.Schedule(_info.Length, 128, handle);
ClothUsedParticles = _clothUsedParticles,
ClothRects = _clothRects,
}.Schedule(_colliders.Length, 128, handle);
// NextPositions から NextRotations を作る
handle = new ApplyRotationJob

2
Assets/VRM10_Samples/ClothSample/RotateParticle/Runtime/SphereTriangle/PositionList.cs
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@@ -32,7 +32,7 @@ namespace SphereTriangle
public Dictionary<ClothRect, Bounds> BoundsCache = new();
public Bounds GetBoundsFrom4(in Vector3 a, in Vector3 b, in Vector3 c, in Vector3 d)
public static Bounds GetBoundsFrom4(in Vector3 a, in Vector3 b, in Vector3 c, in Vector3 d)
{
var aabb = new Bounds(a, Vector3.zero);
aabb.Encapsulate(b);