├── Assets ├── HighPerformanceDynamicBone.meta ├── HighPerformanceDynamicBone │ ├── DynamicBone.cs │ ├── DynamicBone.cs.meta │ ├── DynamicBoneCollider.cs │ ├── DynamicBoneCollider.cs.meta │ ├── DynamicBoneManager.cs │ ├── DynamicBoneManager.cs.meta │ ├── Util.cs │ └── Util.cs.meta ├── Sample.meta └── Sample │ ├── ForkedBone(Developing).meta │ ├── ForkedBone(Developing) │ ├── ForkedBone.unity │ └── ForkedBone.unity.meta │ ├── Scenes.meta │ ├── StressTest.meta │ └── StressTest │ ├── Prefabs.meta │ ├── Prefabs │ ├── RootParent.prefab │ └── RootParent.prefab.meta │ ├── Scripts.meta │ ├── Scripts │ ├── AutoMove.cs │ ├── AutoMove.cs.meta │ ├── Generator.cs │ └── Generator.cs.meta │ ├── StressTest.unity │ └── StressTest.unity.meta ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── BurstAotSettings_StandaloneWindows.json ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── PackageManagerSettings.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset └── XRSettings.asset └── README.md /Assets/HighPerformanceDynamicBone.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e6ba56ede2604dd4082ed2d0b4f435dd 3 | folderAsset: yes 4 | DefaultImporter: 5 | userData: 6 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBone.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Mathematics; 5 | using Unity.Collections; 6 | 7 | namespace HighPerformanceDynamicBone 8 | { 9 | 10 | // o <-根骨骼父物体，由此读取运动信息并让骨骼进行模拟，HeadInfo中的位置旋转等信息都是这个物体的，同时也存储一些骨骼结构通用的信息 11 | // | 12 | // o <-挂载DynamicBone脚本的物体，也是骨骼树形结构的根骨骼， 同时也是最上级的ParticleInfo 13 | // /\ 14 | // o o <-子Particle 15 | // /\ /\ 16 | // o oo o <-子Particle 17 | 18 | 19 | 20 | public struct HeadInfo 21 | { 22 | public int Index; 23 | public float3 ObjectMove; 24 | public float3 ObjectPrevPosition; 25 | public float3 Gravity; 26 | public float ObjectScale; 27 | public float Weight; 28 | public float3 Force; 29 | public float3 FinalForce; 30 | public int ParticleCount; 31 | public int DataOffsetInGlobalArray; 32 | 33 | public float3 RootParentBoneWorldPosition; 34 | public quaternion RootParentBoneWorldRotation; 35 | } 36 | 37 | 38 | public struct ParticleInfo 39 | { 40 | public int Index; 41 | public int ParentIndex; 42 | public float Damping; 43 | public float Elasticity; 44 | public float Stiffness; 45 | public float Inert; 46 | public float Friction; 47 | public float Radius; 48 | public float BoneLength; 49 | public bool IsCollide; 50 | public bool IsEndBone; 51 | public bool NotNull; 52 | 53 | public int ChildCount; 54 | 55 | public float3 EndOffset; 56 | public float3 InitLocalPosition; 57 | public quaternion InitLocalRotation; 58 | 59 | public float3 LocalPosition; 60 | public quaternion LocalRotation; 61 | 62 | public float3 TempWorldPosition; 63 | public float3 TempPrevWorldPosition; 64 | 65 | public float3 ParentScale; 66 | 67 | public float3 WorldPosition; 68 | public quaternion WorldRotation; 69 | } 70 | 71 | public class DynamicBone : MonoBehaviour 72 | { 73 | [Tooltip("运动的根骨骼")] [SerializeField] private Transform rootBoneTransform = null; 74 | 75 | [Tooltip("阻尼：How much the bones slowed down.")] [SerializeField] [Range(0, 1)] 76 | private float damping = 0.1f; 77 | 78 | [SerializeField] private AnimationCurve dampingDistribution = null; 79 | 80 | [Tooltip("弹性：How much the force applied to return each bone to original orientation.")] 81 | [SerializeField] 82 | [Range(0, 1)] 83 | private float elasticity = 0.1f; 84 | 85 | [SerializeField] private AnimationCurve elasticityDistribution = null; 86 | 87 | [Tooltip("刚度：How much bone's original orientation are preserved.")] [SerializeField] [Range(0, 1)] 88 | private float stiffness = 0.1f; 89 | 90 | [SerializeField] private AnimationCurve stiffnessDistribution = null; 91 | 92 | [Tooltip("惰性：How much character's position change is ignored in physics simulation.")] 93 | [SerializeField] 94 | [Range(0, 1)] 95 | private float inert = 0; 96 | 97 | [SerializeField] private AnimationCurve inertDistribution = null; 98 | 99 | [Tooltip("摩擦力：How much the bones slowed down when collide.")] [SerializeField] 100 | private float friction = 0; 101 | 102 | [SerializeField] private AnimationCurve frictionDistribution = null; 103 | 104 | [Tooltip("半径：Each bone can be a sphere to collide with colliders. Radius describe sphere's size.")] [SerializeField] 105 | private float radius = 0; 106 | 107 | [SerializeField] private AnimationCurve radiusDistribution = null; 108 | 109 | [Tooltip("The force apply to bones. Partial force apply to character's initial pose is cancelled out.")] [SerializeField] 110 | private Vector3 gravity = Vector3.zero; 111 | 112 | [Tooltip("The force apply to bones.")] [SerializeField] 113 | private Vector3 force = Vector3.zero; 114 | 115 | [Tooltip("如果这个值不是0，最后会添加一个新的节点")] 116 | [SerializeField] private float endLength = 0; 117 | 118 | [Tooltip("如果这个值不是zero，最后会添加一个新的节点")] 119 | [SerializeField] private Vector3 endOffset = Vector3.zero; 120 | 121 | [Tooltip("需要和骨骼交互的碰撞器")] [SerializeField] 122 | private DynamicBoneCollider[] colliderArray = null; 123 | 124 | [Tooltip("从指定的节点开始后面的子节点都不会进行物理模拟")][SerializeField] 125 | private Transform[] exclusionTransformArray = null; 126 | 127 | private float boneTotalLength; 128 | 129 | private float weight = 1.0f; 130 | 131 | [NonSerialized] public NativeArray ParticleInfoArray; 132 | [NonSerialized] public Transform[] ParticleTransformArray; 133 | 134 | private int particleCount; 135 | private bool hasInitialized; 136 | 137 | /// 138 | /// 获取挂载该脚本的骨骼的父物体用于物理模拟，如果父物体为空，则此骨骼无效 139 | /// 140 | public Transform RootBoneParentTransform { get; private set; } 141 | 142 | /// 143 | /// 此HeadInfo对应的是RootBoneParentTransform 144 | /// 145 | [HideInInspector] public HeadInfo HeadInfo; 146 | 147 | private void OnValidate() 148 | { 149 | if(!RootBoneParentTransform) return; 150 | if (!hasInitialized) return; 151 | 152 | damping = Mathf.Clamp01(damping); 153 | elasticity = Mathf.Clamp01(elasticity); 154 | stiffness = Mathf.Clamp01(stiffness); 155 | inert = Mathf.Clamp01(inert); 156 | friction = Mathf.Clamp01(friction); 157 | radius = Mathf.Max(radius, 0); 158 | 159 | if (Application.isEditor && Application.isPlaying) 160 | { 161 | InitTransforms(); 162 | UpdateParameters(); 163 | DynamicBoneManager.Instance.RefreshHeadInfo(in HeadInfo); 164 | DynamicBoneManager.Instance.RefreshParticleInfo(in ParticleInfoArray, 165 | in HeadInfo.DataOffsetInGlobalArray); 166 | } 167 | } 168 | 169 | private void Awake() 170 | { 171 | if (!rootBoneTransform) 172 | { 173 | rootBoneTransform = transform; 174 | } 175 | RootBoneParentTransform = rootBoneTransform.parent; 176 | if(!RootBoneParentTransform) return; 177 | 178 | ParticleInfoArray = new NativeArray(DynamicBoneManager.MaxParticleLimit, Allocator.Persistent); 179 | ParticleTransformArray = new Transform[DynamicBoneManager.MaxParticleLimit]; 180 | 181 | SetupParticles(); 182 | DynamicBoneManager.Instance.AddBone(this); 183 | hasInitialized = true; 184 | } 185 | 186 | public HeadInfo ResetHeadIndexAndDataOffset(int headIndex) 187 | { 188 | HeadInfo.Index = headIndex; 189 | HeadInfo.DataOffsetInGlobalArray = headIndex * DynamicBoneManager.MaxParticleLimit; 190 | return HeadInfo; 191 | } 192 | 193 | public void ClearJobData() 194 | { 195 | if (ParticleInfoArray.IsCreated) 196 | { 197 | ParticleInfoArray.Dispose(); 198 | } 199 | 200 | ParticleTransformArray = null; 201 | } 202 | 203 | private void SetupParticles() 204 | { 205 | if (rootBoneTransform == null) 206 | return; 207 | 208 | particleCount = 0; 209 | HeadInfo = new HeadInfo 210 | { 211 | ObjectPrevPosition = rootBoneTransform.position, 212 | ObjectScale = math.abs(rootBoneTransform.lossyScale.x), 213 | Gravity = gravity, 214 | Weight = weight, 215 | Force = force, 216 | ParticleCount = 0, 217 | }; 218 | 219 | particleCount = 0; 220 | boneTotalLength = 0; 221 | AppendParticles(rootBoneTransform, -1, 0, in HeadInfo); 222 | UpdateParameters(); 223 | 224 | HeadInfo.ParticleCount = particleCount; 225 | } 226 | 227 | //TODO:这个循环需要整理一下，目前过于混乱了 228 | private void AppendParticles(Transform b, int parentIndex, float boneLength, in HeadInfo head) 229 | { 230 | ParticleInfo particle = new ParticleInfo 231 | { 232 | Index = particleCount, 233 | ParentIndex = parentIndex, 234 | NotNull = true 235 | }; 236 | 237 | particleCount++; 238 | 239 | 240 | if (b != null) 241 | { 242 | particle.LocalPosition = particle.InitLocalPosition = b.localPosition; 243 | particle.LocalRotation = particle.InitLocalRotation = b.localRotation; 244 | particle.TempWorldPosition = particle.TempPrevWorldPosition = particle.WorldPosition = b.position; 245 | particle.WorldRotation = b.rotation; 246 | particle.ParentScale = b.parent.lossyScale; 247 | } 248 | else //End Bone 249 | { 250 | Transform pb = ParticleTransformArray[parentIndex]; 251 | if (endLength > 0) 252 | { 253 | Transform ppb = pb.parent; 254 | if (ppb != null) 255 | particle.EndOffset = pb.InverseTransformPoint((pb.position * 2 - ppb.position)) * endLength; 256 | else 257 | particle.EndOffset = new Vector3(endLength, 0, 0); 258 | } 259 | else 260 | { 261 | particle.EndOffset = 262 | pb.InverseTransformPoint(rootBoneTransform.TransformDirection(endOffset) + pb.position); 263 | } 264 | 265 | particle.TempWorldPosition = particle.TempPrevWorldPosition = pb.TransformPoint(particle.EndOffset); 266 | particle.IsEndBone = true; 267 | } 268 | 269 | //两Particle成一根骨，从第二个Particle开始计算骨骼长度 270 | if (parentIndex >= 0) 271 | { 272 | boneLength += math.distance(ParticleTransformArray[parentIndex].position, particle.TempWorldPosition); 273 | particle.BoneLength = boneLength; 274 | boneTotalLength = math.max(boneTotalLength, boneLength); 275 | } 276 | 277 | int index = particle.Index; 278 | ParticleInfoArray[particle.Index] = particle; 279 | ParticleTransformArray[particle.Index] = b; 280 | 281 | if (b != null) 282 | { 283 | particle.ChildCount = b.childCount; 284 | for (int i = 0; i < b.childCount; ++i) 285 | { 286 | bool exclude = false; 287 | if (exclusionTransformArray != null) 288 | { 289 | for (int j = 0; j < exclusionTransformArray.Length; j++) 290 | { 291 | Transform e = exclusionTransformArray[j]; 292 | if (e == b.GetChild(i)) 293 | { 294 | exclude = true; 295 | break; 296 | } 297 | } 298 | } 299 | 300 | if (!exclude) 301 | { 302 | AppendParticles(b.GetChild(i), index, boneLength, in head); 303 | } 304 | //如果到该节点被剔除了，仍需要在最后添加一个空节点 305 | else if ( endLength > 0 || endOffset != Vector3.zero) 306 | { 307 | AppendParticles(null, index, boneLength, in head); 308 | } 309 | } 310 | 311 | if (b.childCount == 0 && (endLength > 0 || endOffset != Vector3.zero)) 312 | { 313 | AppendParticles(null, index, boneLength, in head); 314 | } 315 | } 316 | } 317 | 318 | /// 319 | /// 用于将所有Particle恢复至最初位置 320 | /// 321 | private void InitTransforms() 322 | { 323 | for (int i = 0; i < ParticleInfoArray.Length; ++i) 324 | { 325 | ParticleInfo particleInfo = ParticleInfoArray[i]; 326 | particleInfo.LocalPosition = particleInfo.InitLocalPosition; 327 | particleInfo.LocalRotation = particleInfo.InitLocalRotation; 328 | ParticleInfoArray[i] = particleInfo; 329 | } 330 | } 331 | 332 | private void UpdateParameters() 333 | { 334 | if (rootBoneTransform == null) 335 | return; 336 | 337 | for (int i = 0; i < particleCount; ++i) 338 | { 339 | ParticleInfo particle = ParticleInfoArray[i]; 340 | 341 | particle.Damping = damping; 342 | particle.Elasticity = elasticity; 343 | particle.Stiffness = stiffness; 344 | particle.Inert = inert; 345 | particle.Friction = friction; 346 | particle.Radius = radius; 347 | 348 | if (boneTotalLength > 0) 349 | { 350 | float a = particle.BoneLength / boneTotalLength; 351 | 352 | if (dampingDistribution != null && dampingDistribution.keys.Length > 0) 353 | particle.Damping *= dampingDistribution.Evaluate(a); 354 | if (elasticityDistribution != null && elasticityDistribution.keys.Length > 0) 355 | particle.Elasticity *= elasticityDistribution.Evaluate(a); 356 | if (stiffnessDistribution != null && stiffnessDistribution.keys.Length > 0) 357 | particle.Stiffness *= stiffnessDistribution.Evaluate(a); 358 | if (inertDistribution != null && inertDistribution.keys.Length > 0) 359 | particle.Inert *= inertDistribution.Evaluate(a); 360 | if (frictionDistribution != null && frictionDistribution.keys.Length > 0) 361 | particle.Friction *= frictionDistribution.Evaluate(a); 362 | if (radiusDistribution != null && radiusDistribution.keys.Length > 0) 363 | particle.Radius *= radiusDistribution.Evaluate(a); 364 | } 365 | 366 | particle.Damping = Mathf.Clamp01(particle.Damping); 367 | particle.Elasticity = Mathf.Clamp01(particle.Elasticity); 368 | particle.Stiffness = Mathf.Clamp01(particle.Stiffness); 369 | particle.Inert = Mathf.Clamp01(particle.Inert); 370 | particle.Friction = Mathf.Clamp01(particle.Friction); 371 | particle.Radius = Mathf.Max(particle.Radius, 0); 372 | 373 | ParticleInfoArray[i] = particle; 374 | } 375 | } 376 | 377 | public DynamicBoneCollider[] GetColliderArray() 378 | { 379 | return colliderArray; 380 | } 381 | 382 | private void OnDestroy() 383 | { 384 | ParticleInfoArray.Dispose(); 385 | } 386 | } 387 | } 388 | 389 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBone.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 42be98af2f222d44d953caa65c5dd995 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBoneCollider.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using Unity.Burst; 3 | using UnityEngine; 4 | using Unity.Mathematics; 5 | using UnityEngine.Jobs; 6 | using UnityEngine.Serialization; 7 | 8 | namespace HighPerformanceDynamicBone 9 | { 10 | public enum Direction 11 | { 12 | X, 13 | Y, 14 | Z 15 | } 16 | 17 | public enum Bound 18 | { 19 | Outside, 20 | Inside 21 | } 22 | 23 | public struct ColliderInfo 24 | { 25 | public int Index; 26 | public bool IsGlobal; 27 | public Bound Bound; 28 | public float Height; 29 | public float Radius; 30 | public float3 Center; 31 | public Direction Direction; 32 | public float Scale; 33 | public float3 Position; 34 | public quaternion Rotation; 35 | } 36 | 37 | public class DynamicBoneCollider : MonoBehaviour 38 | { 39 | [Tooltip("是否为全局碰撞器")] [SerializeField] private bool isGlobal = false; 40 | 41 | [Tooltip("碰撞器半径")] [SerializeField] private float radius = 0.5f; 42 | 43 | [Tooltip("高度，大于0即为胶囊体")] [SerializeField] 44 | private float height = 0; 45 | 46 | [Tooltip("高度的轴向")] [SerializeField] private Direction direction = Direction.Y; 47 | 48 | [Tooltip("碰撞器中心位置， 相对于挂载物体的局部空间")] [SerializeField] 49 | private Vector3 center = Vector3.zero; 50 | 51 | [Tooltip("把骨骼束缚在外面或里面")] [SerializeField] 52 | private Bound bound = Bound.Outside; 53 | 54 | 55 | [HideInInspector] public ColliderInfo ColliderInfo; 56 | 57 | private bool hasInitialized; 58 | 59 | private void OnValidate() 60 | { 61 | if (!hasInitialized) return; 62 | if (Application.isEditor && Application.isPlaying) 63 | { 64 | ColliderInfo.Radius = math.max(radius, 0); 65 | ColliderInfo.Height = math.max(height, 0); 66 | ColliderInfo.Bound = bound; 67 | ColliderInfo.Center = center; 68 | ColliderInfo.Direction = direction; 69 | DynamicBoneManager.Instance.RefreshColliderInfo(ColliderInfo); 70 | } 71 | } 72 | 73 | private void Awake() 74 | { 75 | ColliderInfo = new ColliderInfo 76 | { 77 | IsGlobal = isGlobal, 78 | Center = center, 79 | Radius = radius, 80 | Height = height, 81 | Direction = direction, 82 | Bound = bound, 83 | Scale = transform.lossyScale.x, 84 | }; 85 | DynamicBoneManager.Instance.AddCollider(this); 86 | hasInitialized = true; 87 | } 88 | 89 | private void OnDrawGizmosSelected() 90 | { 91 | if (!enabled) 92 | return; 93 | 94 | if (bound == Bound.Outside) 95 | Gizmos.color = Color.yellow; 96 | else 97 | Gizmos.color = Color.magenta; 98 | float radius = this.radius * math.abs(transform.lossyScale.x); 99 | float h = height * 0.5f - this.radius; 100 | if (h <= 0) 101 | { 102 | Gizmos.DrawWireSphere(transform.TransformPoint(center), radius); 103 | } 104 | else 105 | { 106 | float3 c0 = center; 107 | float3 c1 = center; 108 | 109 | switch (direction) 110 | { 111 | case Direction.X: 112 | c0.x -= h; 113 | c1.x += h; 114 | break; 115 | case Direction.Y: 116 | c0.y -= h; 117 | c1.y += h; 118 | break; 119 | case Direction.Z: 120 | c0.z -= h; 121 | c1.z += h; 122 | break; 123 | } 124 | 125 | Gizmos.DrawWireSphere(transform.TransformPoint(c0), radius); 126 | Gizmos.DrawWireSphere(transform.TransformPoint(c1), radius); 127 | } 128 | } 129 | 130 | public static bool HandleCollision(in ColliderInfo collider, ref float3 particlePosition, 131 | in float particleRadius) 132 | { 133 | float radius = collider.Radius * math.abs(collider.Scale); 134 | float h = collider.Height * 0.5f - radius; 135 | 136 | float3 worldPosition = Util.LocalToWorldPosition(collider.Position, collider.Rotation, collider.Center); 137 | 138 | if (h <= 0) 139 | { 140 | return collider.Bound == Bound.Outside 141 | ? OutsideSphere(ref particlePosition, particleRadius, worldPosition, radius) 142 | : InsideSphere(ref particlePosition, particleRadius, worldPosition, radius); 143 | } 144 | 145 | float3 center1 = collider.Center; 146 | float3 center2 = collider.Center; 147 | 148 | switch (collider.Direction) 149 | { 150 | case Direction.X: 151 | center1.x -= h; 152 | center2.x += h; 153 | break; 154 | case Direction.Y: 155 | center1.y -= h; 156 | center2.y += h; 157 | break; 158 | case Direction.Z: 159 | center1.z -= h; 160 | center2.z += h; 161 | break; 162 | } 163 | 164 | 165 | float3 worldCenter1 = Util.LocalToWorldPosition(collider.Position, collider.Rotation, center1); 166 | float3 worldCenter2 = Util.LocalToWorldPosition(collider.Position, collider.Rotation, center2); 167 | 168 | return collider.Bound == Bound.Outside 169 | ? OutsideCapsule(ref particlePosition, particleRadius, worldCenter1, 170 | worldCenter2, radius) 171 | : InsideCapsule(ref particlePosition, particleRadius, worldCenter1, 172 | worldCenter2, radius); 173 | } 174 | 175 | 176 | private static bool OutsideSphere(ref float3 particlePosition, float particleRadius, float3 sphereCenter, 177 | float sphereRadius) 178 | { 179 | float r = sphereRadius + particleRadius; 180 | float r2 = r * r; 181 | float3 d = particlePosition - sphereCenter; 182 | 183 | float len2 = math.lengthsq(d); 184 | 185 | // if is inside sphere, project onto sphere surface 186 | if (len2 > 0 && len2 < r2) 187 | { 188 | float len = math.sqrt(len2); 189 | particlePosition = sphereCenter + d * (r / len); 190 | return true; 191 | } 192 | 193 | return false; 194 | } 195 | 196 | private static bool InsideSphere(ref float3 particlePosition, float particleRadius, float3 sphereCenter, 197 | float sphereRadius) 198 | { 199 | float r = sphereRadius - particleRadius; 200 | float r2 = r * r; 201 | float3 d = particlePosition - sphereCenter; 202 | float len2 = math.lengthsq(d); 203 | 204 | // if is outside sphere, project onto sphere surface 205 | if (len2 > r2) 206 | { 207 | float len = math.sqrt(len2); 208 | particlePosition = sphereCenter + d * (r / len); 209 | return true; 210 | } 211 | 212 | return false; 213 | } 214 | 215 | 216 | private static bool OutsideCapsule(ref float3 particlePosition, float particleRadius, float3 capsuleP0, 217 | float3 capsuleP1, 218 | float capsuleRadius) 219 | { 220 | float r = capsuleRadius + particleRadius; 221 | float r2 = r * r; 222 | float3 dir = capsuleP1 - capsuleP0; 223 | float3 d = particlePosition - capsuleP0; 224 | float t = math.dot(d, dir); 225 | 226 | if (t <= 0) 227 | { 228 | // check sphere1 229 | float len2 = math.lengthsq(d); 230 | if (len2 > 0 && len2 < r2) 231 | { 232 | float len = math.sqrt(len2); 233 | particlePosition = capsuleP0 + d * (r / len); 234 | return true; 235 | } 236 | } 237 | else 238 | { 239 | float dl = math.lengthsq(dir); 240 | if (t >= dl) 241 | { 242 | // check sphere2 243 | d = particlePosition - capsuleP1; 244 | float len2 = math.lengthsq(d); 245 | if (len2 > 0 && len2 < r2) 246 | { 247 | float len = math.sqrt(len2); 248 | particlePosition = capsuleP1 + d * (r / len); 249 | return true; 250 | } 251 | } 252 | else if (dl > 0) 253 | { 254 | // check cylinder 255 | t /= dl; 256 | d -= dir * t; 257 | float len2 = math.lengthsq(d); 258 | 259 | 260 | if (len2 > 0 && len2 < r2) 261 | { 262 | float len = math.sqrt(len2); 263 | particlePosition += d * ((r - len) / len); 264 | return true; 265 | } 266 | } 267 | } 268 | 269 | return false; 270 | } 271 | 272 | 273 | private static bool InsideCapsule(ref float3 particlePosition, float particleRadius, float3 capsuleP0, 274 | float3 capsuleP1, 275 | float capsuleRadius) 276 | { 277 | float r = capsuleRadius - particleRadius; 278 | float r2 = r * r; 279 | float3 dir = capsuleP1 - capsuleP0; 280 | float3 d = particlePosition - capsuleP0; 281 | float t = math.dot(d, dir); 282 | 283 | if (t <= 0) 284 | { 285 | // check sphere1 286 | float len2 = math.lengthsq(d); 287 | if (len2 > r2) 288 | { 289 | float len = Mathf.Sqrt(len2); 290 | particlePosition = capsuleP0 + d * (r / len); 291 | return true; 292 | } 293 | } 294 | else 295 | { 296 | float dl = math.lengthsq(dir); 297 | if (t >= dl) 298 | { 299 | // check sphere2 300 | d = particlePosition - capsuleP1; 301 | float len2 = math.lengthsq(d); 302 | if (len2 > r2) 303 | { 304 | float len = Mathf.Sqrt(len2); 305 | particlePosition = capsuleP1 + d * (r / len); 306 | return true; 307 | } 308 | } 309 | else if (dl > 0) 310 | { 311 | // check cylinder 312 | t /= dl; 313 | d -= dir * t; 314 | float len2 = math.lengthsq(d); 315 | if (len2 > r2) 316 | { 317 | float len = Mathf.Sqrt(len2); 318 | particlePosition += d * ((r - len) / len); 319 | return true; 320 | } 321 | } 322 | } 323 | 324 | return false; 325 | } 326 | } 327 | } -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBoneCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 987d515c178729f44b720568eec83553 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBoneManager.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Jobs; 5 | using Unity.Mathematics; 6 | using Unity.Jobs; 7 | using Unity.Burst; 8 | using Unity.Collections; 9 | 10 | namespace HighPerformanceDynamicBone 11 | { 12 | public class DynamicBoneManager : MonoBehaviour 13 | { 14 | private static DynamicBoneManager instance; 15 | 16 | public static DynamicBoneManager Instance 17 | { 18 | get 19 | { 20 | if (!instance) instance = new GameObject("DynamicBoneManager").AddComponent(); 21 | return instance; 22 | } 23 | } 24 | 25 | [SerializeField] private float updateRate = 60; 26 | 27 | /// 28 | /// 该值为所有动态骨骼链中最长的那一根所包含的节点数量 29 | /// 30 | public const int MaxParticleLimit = 20; 31 | 32 | [BurstCompile] 33 | private struct ColliderSetupJob : IJobParallelForTransform 34 | { 35 | public NativeArray ColliderArray; 36 | 37 | public void Execute(int index, TransformAccess transform) 38 | { 39 | ColliderInfo colliderInfo = ColliderArray[index]; 40 | colliderInfo.Position = transform.position; 41 | colliderInfo.Rotation = transform.rotation; 42 | // colliderInfo.Scale = transform.localScale.x; 43 | ColliderArray[index] = colliderInfo; 44 | } 45 | } 46 | 47 | [BurstCompile] 48 | private struct BoneSetupJob : IJobParallelForTransform 49 | { 50 | public NativeArray HeadArray; 51 | 52 | public void Execute(int index, TransformAccess transform) 53 | { 54 | HeadInfo curHeadInfo = HeadArray[index]; 55 | curHeadInfo.RootParentBoneWorldPosition = transform.position; 56 | curHeadInfo.RootParentBoneWorldRotation = transform.rotation; 57 | 58 | curHeadInfo.ObjectMove = transform.position - (Vector3) curHeadInfo.ObjectPrevPosition; 59 | 60 | curHeadInfo.ObjectPrevPosition = transform.position; 61 | float3 force = curHeadInfo.Gravity; 62 | float3 forceDir = math.normalizesafe(force); 63 | float3 pf = forceDir * math.max(math.dot(force, forceDir), 64 | 0); // project current gravity to rest gravity 65 | force -= pf; // remove projected gravity 66 | force = (force + curHeadInfo.Force) * curHeadInfo.ObjectScale; 67 | curHeadInfo.FinalForce = force; 68 | 69 | HeadArray[index] = curHeadInfo; 70 | } 71 | } 72 | 73 | [BurstCompile] 74 | private struct UpdateParticles1Job : IJobParallelFor 75 | { 76 | [ReadOnly] public NativeArray HeadArray; 77 | public NativeArray ParticleArray; 78 | 79 | public void Execute(int index) 80 | { 81 | int headIndex = index / MaxParticleLimit; 82 | HeadInfo curHeadInfo = HeadArray[headIndex]; 83 | 84 | int offset = index % MaxParticleLimit; 85 | //每个Head及其Particle只需要计算一次就够了！ 86 | if (offset == 0) 87 | { 88 | float3 parentPosition = curHeadInfo.RootParentBoneWorldPosition; 89 | quaternion parentRotation = curHeadInfo.RootParentBoneWorldRotation; 90 | 91 | for (int j = 0; j < curHeadInfo.ParticleCount; j++) 92 | { 93 | int pIdx = curHeadInfo.DataOffsetInGlobalArray + j; 94 | ParticleInfo p = ParticleArray[pIdx]; 95 | 96 | 97 | 98 | float3 localPosition = p.LocalPosition * p.ParentScale; 99 | quaternion localRotation = p.LocalRotation; 100 | float3 worldPosition = 101 | Util.LocalToWorldPosition(parentPosition, parentRotation, localPosition); 102 | quaternion worldRotation = 103 | Util.LocalToWorldRotation(parentRotation, localRotation); 104 | 105 | 106 | 107 | parentPosition = p.WorldPosition = worldPosition; 108 | parentRotation = p.WorldRotation = worldRotation; 109 | 110 | ParticleArray[pIdx] = p; 111 | } 112 | } 113 | 114 | //如果遍历到空的部分就直接跳过就好了 115 | if (offset >= curHeadInfo.ParticleCount) return; 116 | 117 | int particleId = curHeadInfo.DataOffsetInGlobalArray + offset; 118 | ParticleInfo particle = ParticleArray[particleId]; 119 | 120 | 121 | if (particle.ParentIndex >= 0) 122 | { 123 | float3 v = particle.TempWorldPosition - particle.TempPrevWorldPosition; 124 | float3 rMove = curHeadInfo.ObjectMove * particle.Inert; 125 | particle.TempPrevWorldPosition = particle.TempWorldPosition + rMove; 126 | 127 | float damping = particle.Damping; 128 | if (particle.IsCollide) 129 | { 130 | damping += particle.Friction; 131 | if (damping > 1) 132 | damping = 1; 133 | particle.IsCollide = false; 134 | } 135 | 136 | particle.TempWorldPosition += v * (1 - damping) + curHeadInfo.FinalForce + rMove; 137 | } 138 | else 139 | { 140 | particle.TempPrevWorldPosition = particle.TempWorldPosition; 141 | particle.TempWorldPosition = particle.WorldPosition; 142 | } 143 | 144 | ParticleArray[particleId] = particle; 145 | } 146 | } 147 | 148 | [BurstCompile] 149 | private struct UpdateParticle2Job : IJobParallelFor 150 | { 151 | [ReadOnly] public NativeArray HeadArray; 152 | public NativeArray ParticleArray; 153 | [ReadOnly] public NativeArray ColliderArray; 154 | [ReadOnly] public NativeMultiHashMap BoneColliderMatchMap; 155 | 156 | public void Execute(int index) 157 | { 158 | //避免IndexOutOfRangeException:Index {0} is out of restricted IJobParallelFor range [{1}...{2] in ReadWriteBuffer. 159 | if (index % MaxParticleLimit == 0) return; 160 | 161 | int headIndex = index / MaxParticleLimit; 162 | HeadInfo curHeadInfo = HeadArray[headIndex]; 163 | 164 | //遍历到那些空的Particle就不用再计算了 165 | int offset = index % MaxParticleLimit; 166 | if (offset >= curHeadInfo.ParticleCount) return; 167 | 168 | int particleId = curHeadInfo.DataOffsetInGlobalArray + offset; 169 | ParticleInfo particleInfo = ParticleArray[particleId]; 170 | 171 | int parentParticleIndex = curHeadInfo.DataOffsetInGlobalArray + particleInfo.ParentIndex; 172 | ParticleInfo parentParticleInfo = ParticleArray[parentParticleIndex]; 173 | 174 | float3 pos = particleInfo.WorldPosition; 175 | float3 parentPos = parentParticleInfo.WorldPosition; 176 | 177 | 178 | //TODO:尾节点的长度计算方法需要用math修改 179 | Matrix4x4 m = float4x4.TRS(parentParticleInfo.TempWorldPosition, parentParticleInfo.WorldRotation, 180 | particleInfo.ParentScale); 181 | 182 | float restLen = !particleInfo.IsEndBone 183 | ? math.distance(parentPos, pos) 184 | : m.MultiplyVector(particleInfo.EndOffset).magnitude; 185 | 186 | 187 | float stiffness = math.lerp(1.0f, particleInfo.Stiffness, curHeadInfo.Weight); 188 | if (stiffness > 0 || particleInfo.Elasticity > 0) 189 | { 190 | float4x4 em0 = float4x4.TRS(parentParticleInfo.TempWorldPosition, parentParticleInfo.WorldRotation, 191 | particleInfo.ParentScale); 192 | float3 restPos = math.mul(em0, new float4(particleInfo.LocalPosition.xyz, 1)).xyz; 193 | 194 | float3 d = restPos - particleInfo.TempWorldPosition; 195 | particleInfo.TempWorldPosition += d * particleInfo.Elasticity; 196 | 197 | if (stiffness > 0) 198 | { 199 | d = restPos - particleInfo.TempWorldPosition; 200 | float len = math.length(d); 201 | float maxLen = restLen * (1 - stiffness) * 2; 202 | if (len > maxLen) 203 | particleInfo.TempWorldPosition += d * ((len - maxLen) / len); 204 | } 205 | } 206 | 207 | // //与指定的非全局碰撞器进行计算，会过滤掉挂载的全局碰撞器防止重复计算 208 | // NativeMultiHashMap.Enumerator enumerator = BoneColliderMatchMap.GetValuesForKey(headIndex); 209 | // while (enumerator.MoveNext()) 210 | // { 211 | // if (ColliderArray[enumerator.Current].IsGlobal) continue; 212 | // particleInfo.IsCollide = 213 | // DynamicBoneCollider.HandleCollision(ColliderArray[enumerator.Current], 214 | // ref particleInfo.TempWorldPosition, 215 | // in particleInfo.Radius); 216 | // } 217 | // 218 | // //与所有的全局碰撞器进行计算 219 | // for (int i = 0; i < ColliderArray.Length; i++) 220 | // { 221 | // if (!ColliderArray[i].IsGlobal) continue; 222 | // particleInfo.IsCollide = 223 | // DynamicBoneCollider.HandleCollision(ColliderArray[i], 224 | // ref particleInfo.TempWorldPosition, 225 | // in particleInfo.Radius); 226 | // } 227 | 228 | 229 | // particleInfo.WorldPosition = particleInfo.TempWorldPosition; 230 | 231 | float3 dd = parentParticleInfo.TempWorldPosition - particleInfo.TempWorldPosition; 232 | float leng = math.length(dd); 233 | if (leng > 0) 234 | { 235 | particleInfo.TempWorldPosition += dd * ((leng - restLen) / leng); 236 | } 237 | 238 | 239 | ParticleArray[particleId] = particleInfo; 240 | } 241 | } 242 | 243 | // [BurstCompile] 244 | // private struct ApplyToTransformJob : IJobParallelForTransform 245 | // { 246 | // public NativeArray ParticleArray; 247 | // 248 | // public void Execute(int index, TransformAccess transform) 249 | // { 250 | // ParticleInfo particleInfo = ParticleArray[index]; 251 | // particleInfo.WorldPosition = particleInfo.TempWorldPosition; 252 | // transform.position = particleInfo.WorldPosition; 253 | // transform.rotation = particleInfo.WorldRotation; 254 | // ParticleArray[index] = particleInfo; 255 | // } 256 | // } 257 | 258 | [BurstCompile] 259 | private struct ApplyToTransformJob : IJobParallelForTransform 260 | { 261 | public NativeArray ParticleArray; 262 | 263 | public void Execute(int index, TransformAccess transform) 264 | { 265 | ParticleInfo particleInfo = ParticleArray[index]; 266 | // ParticleInfo pp = ParticleArray[particleInfo.ParentIndexInGlobalArray]; 267 | 268 | 269 | 270 | particleInfo.WorldPosition = particleInfo.TempWorldPosition; 271 | transform.position = particleInfo.WorldPosition; 272 | transform.rotation = particleInfo.WorldRotation; 273 | ParticleArray[index] = particleInfo; 274 | } 275 | } 276 | 277 | private List boneList; 278 | private List colliderList; 279 | private NativeList headInfoList; 280 | private NativeList particleInfoList; 281 | private NativeList colliderInfoList; 282 | private NativeMultiHashMap boneColliderMatchMap; 283 | private TransformAccessArray colliderTransformAccessArray; 284 | private TransformAccessArray headTransformAccessArray; 285 | private TransformAccessArray particleTransformAccessArray; 286 | private float time; 287 | 288 | private void Awake() 289 | { 290 | boneList = new List(); 291 | colliderList = new List(); 292 | 293 | headInfoList = new NativeList(200, Allocator.Persistent); 294 | headTransformAccessArray = new TransformAccessArray(200, 64); 295 | 296 | particleInfoList = new NativeList(Allocator.Persistent); 297 | particleTransformAccessArray = new TransformAccessArray(200 * MaxParticleLimit, 64); 298 | 299 | colliderInfoList = new NativeList(Allocator.Persistent); 300 | colliderTransformAccessArray = new TransformAccessArray(200, 64); 301 | 302 | 303 | boneColliderMatchMap = new NativeMultiHashMap(200, Allocator.Persistent); 304 | } 305 | 306 | 307 | private void LateUpdate() 308 | { 309 | UpdateAll(); 310 | } 311 | 312 | private void UpdateAll() 313 | { 314 | int runningDynamicBoneCount = headInfoList.Length; 315 | if (runningDynamicBoneCount == 0) return; 316 | 317 | int dataArrayLength = runningDynamicBoneCount * MaxParticleLimit; 318 | 319 | 320 | JobHandle colliderSetup = new ColliderSetupJob() 321 | { 322 | ColliderArray = colliderInfoList 323 | }.Schedule(colliderTransformAccessArray); 324 | 325 | JobHandle boneSetup = new BoneSetupJob 326 | { 327 | HeadArray = headInfoList, 328 | }.Schedule(headTransformAccessArray); 329 | 330 | JobHandle dependency = JobHandle.CombineDependencies(colliderSetup, boneSetup); 331 | 332 | dependency = new UpdateParticles1Job 333 | { 334 | HeadArray = headInfoList, 335 | ParticleArray = particleInfoList, 336 | }.Schedule(dataArrayLength, MaxParticleLimit, dependency); 337 | 338 | dependency = new UpdateParticle2Job 339 | { 340 | HeadArray = headInfoList, 341 | ParticleArray = particleInfoList, 342 | ColliderArray = colliderInfoList, 343 | BoneColliderMatchMap = boneColliderMatchMap 344 | }.Schedule(dataArrayLength, MaxParticleLimit, dependency); 345 | 346 | dependency = new ApplyToTransformJob 347 | { 348 | ParticleArray = particleInfoList, 349 | }.Schedule(particleTransformAccessArray, dependency); 350 | 351 | dependency.Complete(); 352 | } 353 | 354 | /// 355 | /// 将目标骨骼添加到结构中 356 | /// 357 | /// 358 | public void AddBone(DynamicBone target) 359 | { 360 | int index = boneList.IndexOf(target); 361 | if (index != -1) return; // //防止重复添加 362 | 363 | boneList.Add(target); 364 | 365 | target.HeadInfo.DataOffsetInGlobalArray = particleInfoList.Length; 366 | 367 | int headIndex = headInfoList.Length; 368 | target.HeadInfo.Index = headIndex; 369 | 370 | //添加Bone和Collider的关系 371 | foreach (var c in target.GetColliderArray()) 372 | { 373 | boneColliderMatchMap.Add(headIndex, c.ColliderInfo.Index); 374 | } 375 | 376 | headInfoList.Add(target.HeadInfo); 377 | particleInfoList.AddRange(target.ParticleInfoArray); 378 | headTransformAccessArray.Add(target.RootBoneParentTransform); 379 | for (int i = 0; i < MaxParticleLimit; i++) 380 | { 381 | particleTransformAccessArray.Add(target.ParticleTransformArray[i]); 382 | } 383 | 384 | ////树状结构测试 385 | // Debug.Log(target.ParticleInfoArray.Length); 386 | // for (int i = 0; i < target.ParticleInfoArray.Length; i++) 387 | // { 388 | // Debug.Log(target.ParticleInfoArray[i].ParentIndex); 389 | // } 390 | } 391 | 392 | 393 | /// 394 | /// 当目标骨骼需要移除的时候使用，目前还不完善，先不要使用 395 | /// 396 | /// 要移除的目标骨骼 397 | public void RemoveBone(DynamicBone target) 398 | { 399 | int index = boneList.IndexOf(target); 400 | if (index == -1) return; 401 | 402 | //TODO:移除骨骼的逻辑 403 | boneList.RemoveAt(index); 404 | int curHeadIndex = target.HeadInfo.Index; 405 | 406 | //移除Bone的相关Collider的关系 407 | boneColliderMatchMap.Remove(curHeadIndex); 408 | 409 | //是否是队列中末尾对象 410 | bool isEndTarget = curHeadIndex == headInfoList.Length - 1; 411 | if (isEndTarget) 412 | { 413 | headInfoList.RemoveAtSwapBack(curHeadIndex); 414 | headTransformAccessArray.RemoveAtSwapBack(curHeadIndex); 415 | for (int i = MaxParticleLimit - 1; i >= 0; i--) 416 | { 417 | int dataOffset = curHeadIndex * MaxParticleLimit + i; 418 | particleInfoList.RemoveAtSwapBack(dataOffset); 419 | particleTransformAccessArray.RemoveAtSwapBack(dataOffset); 420 | } 421 | } 422 | else 423 | { 424 | //将最末列的HeadInfo 索引设置为当前将要移除的HeadInfo 索引 425 | DynamicBone lastTarget = boneList[boneList.Count - 1]; 426 | HeadInfo lastHeadInfo = lastTarget.ResetHeadIndexAndDataOffset(curHeadIndex); 427 | headInfoList.RemoveAtSwapBack(curHeadIndex); 428 | headInfoList[curHeadIndex] = lastHeadInfo; 429 | headTransformAccessArray.RemoveAtSwapBack(curHeadIndex); 430 | for (int i = MaxParticleLimit - 1; i >= 0; i--) 431 | { 432 | int dataOffset = curHeadIndex * MaxParticleLimit + i; 433 | particleInfoList.RemoveAtSwapBack(dataOffset); 434 | particleTransformAccessArray.RemoveAtSwapBack(dataOffset); 435 | } 436 | } 437 | target.ClearJobData(); 438 | } 439 | 440 | /// 441 | /// 当骨骼头节点除了transform以外的其他信息被修改时，更新骨骼信息 442 | /// 443 | /// 444 | public void RefreshHeadInfo(in HeadInfo headInfo) 445 | { 446 | headInfoList[headInfo.Index] = headInfo; 447 | } 448 | 449 | /// 450 | /// 当骨骼子节点除了transform以外的其他信息被修改时，更新骨骼信息 451 | /// 452 | /// 453 | /// 454 | public void RefreshParticleInfo(in NativeArray particleInfoArray, in int headOffsetInGlobalArray) 455 | { 456 | for (int i = headOffsetInGlobalArray; i < particleInfoArray.Length + headOffsetInGlobalArray; i++) 457 | { 458 | particleInfoList[i] = particleInfoArray[i - headOffsetInGlobalArray]; 459 | } 460 | } 461 | 462 | /// 463 | /// 将目标骨骼添加到结构中 464 | /// 465 | /// 466 | public void AddCollider(DynamicBoneCollider target) 467 | { 468 | int index = colliderList.IndexOf(target); 469 | 470 | if (index != -1) return; //防止重复添加 471 | 472 | colliderList.Add(target); 473 | 474 | int colliderIndex = colliderInfoList.Length; 475 | target.ColliderInfo.Index = colliderIndex; 476 | 477 | colliderInfoList.Add(target.ColliderInfo); 478 | colliderTransformAccessArray.Add(target.transform); 479 | } 480 | 481 | /// 482 | /// 当目标碰撞器需要移除的时候使用，目前还不完善，先不要使用 483 | /// 484 | /// 要移除的目标碰撞器 485 | public void RemoveCollider(DynamicBoneCollider target) 486 | { 487 | int index = colliderList.IndexOf(target); 488 | if (index == -1) return; //防止重复移除 489 | //TODO:移除Collider的逻辑 490 | } 491 | 492 | /// 493 | /// 当碰撞器除了transform以外的其他信息被修改时，更新碰撞器信息 494 | /// 495 | /// 496 | public void RefreshColliderInfo(in ColliderInfo colliderInfo) 497 | { 498 | colliderInfoList[colliderInfo.Index] = colliderInfo; 499 | } 500 | 501 | 502 | private void OnDestroy() 503 | { 504 | if (particleTransformAccessArray.isCreated) particleTransformAccessArray.Dispose(); 505 | if (particleInfoList.IsCreated) particleInfoList.Dispose(); 506 | if (headInfoList.IsCreated) headInfoList.Dispose(); 507 | if (headTransformAccessArray.isCreated) headTransformAccessArray.Dispose(); 508 | if (colliderInfoList.IsCreated) colliderInfoList.Dispose(); 509 | if (colliderTransformAccessArray.isCreated) colliderTransformAccessArray.Dispose(); 510 | if (boneColliderMatchMap.IsCreated) boneColliderMatchMap.Dispose(); 511 | } 512 | 513 | private void OnDrawGizmos() 514 | { 515 | Gizmos.color = Color.white; 516 | for (int i = 0; i < particleInfoList.Length; ++i) 517 | { 518 | ParticleInfo p = particleInfoList[i]; 519 | if (p.NotNull && p.ParentIndex >= 0) 520 | { 521 | ParticleInfo p0 = particleInfoList[p.ParentIndex]; 522 | Gizmos.DrawLine(p.WorldPosition, p0.WorldPosition); 523 | } 524 | if (p.Radius > 0) 525 | Gizmos.DrawWireSphere(p.WorldPosition, p.Radius * 1); 526 | } 527 | } 528 | } 529 | } -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/DynamicBoneManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8e3d4006ca38454479219ce9f449850c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/Util.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using Unity.Mathematics; 3 | 4 | namespace HighPerformanceDynamicBone 5 | { 6 | public static class Util 7 | { 8 | public static float3 LocalToWorldPosition(float3 parentPosition,quaternion parentRotation, float3 targetLocalPosition) 9 | { 10 | return parentPosition + math.mul(parentRotation, targetLocalPosition); 11 | } 12 | 13 | public static quaternion LocalToWorldRotation(quaternion parentRotation, quaternion targetLocalRotation) 14 | { 15 | return math.mul(parentRotation, targetLocalRotation); 16 | } 17 | 18 | public static float3 WorldToLocalPosition(float3 parentPosition,quaternion parentRotation, float3 targetWorldPosition) 19 | { 20 | return float3.zero; 21 | } 22 | 23 | public static quaternion WorldToLocalRotation(quaternion parentRotation, quaternion targetWorldRotation) 24 | { 25 | return quaternion.identity; 26 | } 27 | } 28 | } 29 | 30 | -------------------------------------------------------------------------------- /Assets/HighPerformanceDynamicBone/Util.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 03eaef433663aab48b709326e482151f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | 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fileFormatVersion: 2 2 | guid: 000eb8c7cc5530c4caf281b7312bb95f 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Sample/StressTest/Scripts/AutoMove.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | public class AutoMove : MonoBehaviour 4 | { 5 | [SerializeField] private Vector3 direction = Vector3.up; 6 | 7 | [SerializeField] private float length = 0.5f; 8 | 9 | [SerializeField] [Range(0.1f, 5.0f)] private float interval = 2.0f; 10 | 11 | private Vector3 startPosition; 12 | private float time = 0; 13 | 14 | 15 | private void Start() 16 | { 17 | startPosition = transform.localPosition; 18 | } 19 | 20 | private void Update() 21 | { 22 | time += Time.deltaTime * 5; 23 | float ang = (time % interval) / interval * Mathf.PI * 2.0f; 24 | Vector3 offset = Vector3.Scale(direction, new Vector3(Mathf.Sin(ang), Mathf.Sin(ang), Mathf.Cos(ang))) * length; 25 | transform.localPosition = startPosition + offset; 26 | } 27 | } -------------------------------------------------------------------------------- /Assets/Sample/StressTest/Scripts/AutoMove.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 83eea12a8d20c534eb89e7fea8489807 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Sample/StressTest/Scripts/Generator.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | 6 | public class Generator : MonoBehaviour 7 | { 8 | [SerializeField] 9 | private GameObject testObject; 10 | private void Awake() 11 | { 12 | for (int i = 0; i < 40; i++) 13 | { 14 | for (int j = 0; j < 10; j++) 15 | { 16 | GameObject go = Instantiate(testObject); 17 | go.transform.position = new Vector3(i * 4,0,j * 13); 18 | } 19 | } 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /Assets/Sample/StressTest/Scripts/Generator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6894359ec8fcdc8409f5309ca54f8e6f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Sample/StressTest/StressTest.unity: 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-------------------------------------------------------------------------------- 1 | # UnityHighPerformanceDynamicBone 2 | 目前使用的Unity和Package版本：Unity-2020.3.1f1， Jobs-0.8.0， Burst-1.4.1 3 | 4 | 参照DynamicBone插件的思路，使用**JobSystem**和**BurstCompiler**对其进行了优化，在使用方法上与该插件非常相似，但是拥有超高的性能，快就完事了！ 5 | 6 | Unity为我们提供的**JobSystem**和**BurstCompiler**已经很成熟了，完全可以用在项目之中，同时本项目也使用新的数学库Unity.Mathmatics对以前的Vector和transform下的方法等进行了替换和修改。 7 | 8 | 这个项目也是一个用来学习DOTS其中两员大将的非常不错的选择。（什么？都2020年了你居然还不会在Unity使用多线程？）我也是抱着学习和试验的心态来写的，所以难免会出现一些问题。 9 | 10 | 相对于DOTS中的**ECS**， **Job**和**Burst**是可以单独拿出来用的，对你的项目计算密集的部分使用他们就行优化就可以获得巨大的性能提升，而且不必担心影响项目的结构，哪里想改改哪里。 11 | 12 | 13 | 14 | 改善与新增： 15 | 16 | * 有了高性能加持，部分引用较多的Collider可以直接设置成Global供所有动态骨骼使用，免去反复拖拽的工作。 17 | 18 | 目前已知问题和缺陷： 19 | * 暂时只支持单链骨骼，有分叉的会出问题。 20 | * 暂不能完美支持运行时修改参数，会出现抖动，不过用来调试确定参数是可以用的。 21 | * 因为是成批处理的，所以不能对单独的骨骼修改更新频率和更新模式，只能在Manager中统一修改。 22 | * 未实现和指定物体超过一定距离不再进行动态骨骼计算的功能。（可能不需要，因为性能瓶颈不会出现这里） 23 | * 未实现运行时移除不需要再进行计算的骨骼。 24 | 25 | 更新： 26 | 27 | * 2020.8.10：添加Exclusion剔除功能可以移除不需要物理模拟的子骨骼。 28 | 29 | * 2020.8.4：将Collider的Transform信息获取也使用TransformAccess在Job中进行优化。 --------------------------------------------------------------------------------