fix issue with collision resolve and non-uniform scale box colliders (fixes #32)
This commit is contained in:
Lasse Jon Fuglsang Pedersen
Родитель
f0b583c61b
Коммит
b1de6b28d2
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@ -180,7 +180,7 @@ namespace Unity.DemoTeam.Hair
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// capsule | centerA radius centerB __pad
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// sphere | center radius __pad __pad
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// torus | center radiusA axis radiusB
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// cube | __pad __pad __pad __pad
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// cube | extent __pad __pad __pad
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public Vector3 pA; public float tA;
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public Vector3 pB; public float tB;
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@ -308,8 +308,7 @@ namespace Unity.DemoTeam.Hair
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type = RuntimeShape.Type.Cube,
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data = new RuntimeShape.Data
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{
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pA = Vector3.zero,
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pB = Vector3.one * 0.5f,
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pA = worldSize * 0.5f,
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},
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},
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};
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@ -640,11 +639,11 @@ namespace Unity.DemoTeam.Hair
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break;
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case RuntimeShape.Type.Cube:
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{
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var localCenter = data.shape.data.pA;
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var localExtent = data.shape.data.pB;
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var localCenter = Vector3.zero;
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var localExtent = Vector3.one;
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{
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Gizmos.matrix = data.xform.matrix;
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Gizmos.DrawWireCube(localCenter, localExtent * 2.0f);
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Gizmos.DrawWireCube(localCenter, localExtent);
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}
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}
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break;
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@ -161,7 +161,7 @@ namespace Unity.DemoTeam.Hair
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case HairBoundary.RuntimeShape.Type.Capsule: return SdCapsule(p, data.shape.data);
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case HairBoundary.RuntimeShape.Type.Sphere: return SdSphere(p, data.shape.data);
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case HairBoundary.RuntimeShape.Type.Torus: return SdTorus(p, data.shape.data);
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case HairBoundary.RuntimeShape.Type.Cube: return SdCube(p, Matrix4x4.Inverse(data.xform.matrix));
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case HairBoundary.RuntimeShape.Type.Cube: return SdCube(p, data.shape.data, Matrix4x4.Inverse(data.xform.matrix.WithoutScale()));
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}
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}
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break;
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@ -219,14 +219,15 @@ namespace Unity.DemoTeam.Hair
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return length(q) - t.y;
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}
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public static float SdCube(float3 p, in float4x4 invM)
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public static float SdCube(in float3 p, in HairBoundary.RuntimeShape.Data cube, in float4x4 invM) => SdCube(p, cube.pA, invM);
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public static float SdCube(float3 p, in float3 extent, in float4x4 invM)
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{
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p = mul(invM, float4(p, 1.0f)).xyz;
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// see: "distance functions" by Inigo Quilez
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// https://www.iquilezles.org/www/articles/distfunctions/distfunctions.htm
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float3 b = float3(0.5f, 0.5f, 0.5f);
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float3 b = extent;
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float3 q = abs(p) - b;
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return length(max(q, 0.0f)) + min(max(q.x, max(q.y, q.z)), 0.0f);
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@ -1345,11 +1345,17 @@ namespace Unity.DemoTeam.Hair
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cbuffer._BoundaryWorldMargin = volumeSettings.collisionMargin * 0.01f;
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// pack boundaries
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int writeIndexDiscrete = 0;
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int writeIndexCapsule = writeIndexDiscrete + (int)cbuffer._BoundaryCountDiscrete;
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int writeIndexSphere = writeIndexCapsule + (int)cbuffer._BoundaryCountCapsule;
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int writeIndexTorus = writeIndexSphere + (int)cbuffer._BoundaryCountSphere;
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int writeIndexCube = writeIndexTorus + (int)cbuffer._BoundaryCountTorus;
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int firstIndexDiscrete = 0;
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int firstIndexCapsule = firstIndexDiscrete + (int)cbuffer._BoundaryCountDiscrete;
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int firstIndexSphere = firstIndexCapsule + (int)cbuffer._BoundaryCountCapsule;
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int firstIndexTorus = firstIndexSphere + (int)cbuffer._BoundaryCountSphere;
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int firstIndexCube = firstIndexTorus + (int)cbuffer._BoundaryCountTorus;
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int writeIndexDiscrete = firstIndexDiscrete;
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int writeIndexCapsule = firstIndexCapsule;
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int writeIndexSphere = firstIndexSphere;
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int writeIndexTorus = firstIndexTorus;
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int writeIndexCube = firstIndexCube;
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int writeCount = 0;
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if (boundarySDFIndex != -1)
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@ -1419,6 +1425,11 @@ namespace Unity.DemoTeam.Hair
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{
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ptrMatrixInv[i] = boundaryList[boundarySDFIndex].sdf.worldToUVW;
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}
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// world to prim for cube
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else if (i < cbuffer._BoundaryCountCube + firstIndexCube && i >= firstIndexCube)
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{
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ptrMatrixInv[i] = Matrix4x4.Inverse(ptrMatrix[i].WithoutScale());
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}
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}
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// update previous frame info
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@ -53,14 +53,14 @@ float SdTorus(float3 p, const float3 center, const float3 axis, const float radi
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return length(q) - t.y;
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}
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float SdCube(float3 p, const float4x4 invM)
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float SdCube(float3 p, const float3 extent, const float4x4 invM)
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{
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p = mul(invM, float4(p, 1.0)).xyz;
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// see: "distance functions" by Inigo Quilez
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// https://www.iquilezles.org/www/articles/distfunctions/distfunctions.htm
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const float3 b = float3(0.5, 0.5, 0.5);
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const float3 b = extent;
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const float3 q = abs(p) - b;
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return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
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@ -81,6 +81,11 @@ float SdTorus(const float3 p, const BoundaryShape torus)
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return SdTorus(p, torus.pA, torus.pB, torus.tA, torus.tB);
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}
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float SdCube(const float3 p, const BoundaryShape cube, const float4x4 invM)
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{
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return SdCube(p, cube.pA, invM);
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}
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//------------------
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// boundary queries
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@ -113,7 +118,7 @@ float BoundaryDistance(const float3 p)
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for (j += _BoundaryCountCube; i != j; i++)
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{
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d = min(d, SdCube(p, _BoundaryMatrixInv[i]));
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d = min(d, SdCube(p, _BoundaryShape[i], _BoundaryMatrixInv[i]));
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}
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return d;
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@ -152,7 +157,7 @@ uint BoundarySelect(const float3 p, const float d)
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for (j += _BoundaryCountCube; i != j; i++)
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{
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if (d == SdCube(p, _BoundaryMatrixInv[i]))
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if (d == SdCube(p, _BoundaryShape[i], _BoundaryMatrixInv[i]))
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index = i;
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}
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@ -122,7 +122,7 @@ struct BoundaryShape
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// capsule | centerA radius centerB __pad
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// sphere | center radius __pad __pad
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// torus | center radiusA axis radiusB
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// cube | __pad __pad __pad __pad
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// cube | extent __pad __pad __pad
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float3 pA; float tA;
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float3 pB; float tB;
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@ -35,6 +35,14 @@ namespace Unity.DemoTeam.Hair
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}
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}
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public static class Matrix4x4Extensions
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{
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public static Matrix4x4 WithoutScale(this Matrix4x4 value)
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{
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return Matrix4x4.TRS(value.GetColumn(3), Quaternion.LookRotation(value.GetColumn(2), value.GetColumn(1)), Vector3.one);
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}
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}
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public static class QuaternionExtensions
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{
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public static Vector4 ToVector4(this Quaternion value)
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