{"id":1530,"date":"2023-11-16T18:07:18","date_gmt":"2023-11-16T10:07:18","guid":{"rendered":"https:\/\/www.mustenaka.cn\/?p=1530"},"modified":"2023-11-29T15:31:15","modified_gmt":"2023-11-29T07:31:15","slug":"pbd-method-learn-03","status":"publish","type":"post","link":"https:\/\/www.mustenaka.cn\/index.php\/2023\/11\/16\/pbd-method-learn-03\/","title":{"rendered":"PBD method\u5b66\u4e60\uff08Position Based Dynamics method learn\uff09-03 PBD\u8ba1\u7b97\u67b6\u6784"},"content":{"rendered":"<p>Unity\u7248\u672c\u7684\u4ee3\u7801\u8fd8\u5728\u65bd\u5de5\u4e2d\uff0c\u9879\u76ee\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/Mustenaka\/AdaptorPhysX\">https:\/\/github.com\/Mustenaka\/AdaptorPhysX<\/a><\/p>\n<h1>PBD\u8ba1\u7b97\u67b6\u6784<\/h1>\n<p>PBD\uff08Position-Based Dynamics\uff09\u662f\u4e00\u79cd\u57fa\u4e8e\u4f4d\u7f6e\u7684\u52a8\u529b\u5b66\u65b9\u6cd5\uff0c\u4e3b\u8981\u7528\u4e8e\u6a21\u62df\u5f39\u6027\u548c\u5851\u6027\u7269\u4f53\u7684\u52a8\u6001\u884c\u4e3a\uff0c\u5bf9\u4e8e\u6b64\u7b97\u6cd5\uff0c\u9700\u8981\u6709\u5982\u4e0b\u7684\u4e00\u4e9b\u8ba1\u7b97\u7684\u6b65\u9aa4\u8fdb\u884c\u8fed\u4ee3\u3002<\/p>\n<ol>\n<li><strong>\u521d\u59cb\u5316\u7c92\u5b50\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\uff1a<\/strong>\n<ul>\n<li>\u8bbe\u5b9a\u6a21\u62df\u7684\u521d\u59cb\u72b6\u6001\uff0c\u5305\u62ec\u7c92\u5b50\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u7528\u6237\u8f93\u5165\u3001\u521d\u59cb\u6761\u4ef6\u6216\u5176\u4ed6\u624b\u6bb5\u6765\u5b9e\u73b0\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u8ba1\u7b97\u7ea6\u675f\uff1a<\/strong>\n<ul>\n<li>\u5b9a\u4e49\u548c\u8ba1\u7b97\u7528\u4e8e\u7ea6\u675f\u7684\u516c\u5f0f\u3002\u7ea6\u675f\u53ef\u4ee5\u5305\u62ec\u5f39\u7c27\u7ea6\u675f\u3001\u8ddd\u79bb\u7ea6\u675f\u3001\u89d2\u5ea6\u7ea6\u675f\u7b49\u3002\u8fd9\u4e9b\u7ea6\u675f\u7528\u4e8e\u4fdd\u6301\u7269\u4f53\u7684\u5f62\u72b6\u548c\u7ed3\u6784\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u8fed\u4ee3\u6c42\u89e3\u7ea6\u675f\uff1a<\/strong>\n<ul>\n<li>\u901a\u8fc7\u8fed\u4ee3\u7684\u65b9\u5f0f\u6c42\u89e3\u7ea6\u675f\uff0c\u4f7f\u5f97\u7c92\u5b50\u7684\u4f4d\u7f6e\u6ee1\u8db3\u7ea6\u675f\u6761\u4ef6\u3002\u8fed\u4ee3\u6c42\u89e3\u662fPBD\u7684\u5173\u952e\u6b65\u9aa4\uff0c\u901a\u5e38\u8fdb\u884c\u591a\u6b21\u8fed\u4ee3\u4ee5\u8fbe\u5230\u7a33\u5b9a\u7684\u6a21\u62df\u6548\u679c\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u66f4\u65b0\u7c92\u5b50\u4f4d\u7f6e\uff1a<\/strong>\n<ul>\n<li>\u6839\u636e\u8fed\u4ee3\u6c42\u89e3\u540e\u7684\u7ea6\u675f\uff0c\u66f4\u65b0\u7c92\u5b50\u7684\u4f4d\u7f6e\u3002\u8fd9\u53ef\u4ee5\u4f7f\u7528\u663e\u5f0f\u6216\u9690\u5f0f\u79ef\u5206\u65b9\u6cd5\uff0c\u5e38\u89c1\u7684\u6709Euler\u65b9\u6cd5\u3001Verlet\u65b9\u6cd5\u3001\u9690\u5f0f\u6b27\u62c9\u65b9\u6cd5\u7b49\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u78b0\u649e\u5904\u7406\uff1a<\/strong>\n<ul>\n<li>\u5904\u7406\u78b0\u649e\uff0c\u786e\u4fdd\u7c92\u5b50\u4e0d\u7a7f\u8d8a\u7269\u4f53\u8868\u9762\u3002\u8fd9\u53ef\u80fd\u6d89\u53ca\u5230\u68c0\u6d4b\u78b0\u649e\u3001\u53cd\u5e94\u529b\u7684\u5e94\u7528\u7b49\u6b65\u9aa4\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u5e94\u7528\u5916\u90e8\u529b\uff1a<\/strong>\n<ul>\n<li>\u5982\u679c\u6709\u5916\u90e8\u529b\uff08\u5982\u91cd\u529b\u3001\u98ce\u529b\u7b49\uff09\uff0c\u5219\u5c06\u8fd9\u4e9b\u529b\u5e94\u7528\u4e8e\u7c92\u5b50\uff0c\u66f4\u65b0\u7c92\u5b50\u7684\u901f\u5ea6\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6e32\u67d3\uff1a<\/strong>\n<ul>\n<li>\u5c06\u6a21\u62df\u7ed3\u679c\u6e32\u67d3\u51fa\u6765\uff0c\u4ee5\u4fbf\u53ef\u89c6\u5316\u6a21\u62df\u6548\u679c\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u5c06\u7c92\u5b50\u4f4d\u7f6e\u4f20\u9012\u7ed9\u56fe\u5f62\u5f15\u64ce\u8fdb\u884c\u6e32\u67d3\uff0c\u6216\u8005\u4f7f\u7528\u5176\u4ed6\u53ef\u89c6\u5316\u624b\u6bb5\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u5faa\u73af\u6216\u7ec8\u6b62\uff1a<\/strong>\n<ul>\n<li>\u91cd\u590d\u4e0a\u8ff0\u6b65\u9aa4\uff0c\u6216\u8005\u5728\u8fbe\u5230\u6a21\u62df\u7ed3\u675f\u6761\u4ef6\u65f6\u7ec8\u6b62\u6a21\u62df\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h3>\u521d\u59cb\u5316<\/h3>\n<p>\u521d\u59cb\u5316\u6570\u636e\u7ed3\u6784\u5e94\u8be5\u5305\u542b<strong>\u81f3\u5c11<\/strong>\u4ee5\u4e0b\u6570\u636e\u7ed3\u6784\u3002<\/p>\n<ol>\n<li>\u6240\u6709\u7c92\u5b50\u7684\u7d22\u5f15\u96c6\u5408\u2014\u2014List&lt;Particle&gt; particles<\/li>\n<li>\u8fed\u4ee3\u65f6\u95f4\u7684\u914d\u7f6e\uff0c\u7c7b\u4f3c\u4e8eFixedUpdate\u7684\u6bcf\u79d2\u6267\u884cX\u6b21\uff0c\u5f80\u5f80\u79f0\u4e4b\u4e3a\u65f6\u95f4\u5fae\u5206\u2014\u2014dt<\/li>\n<li>\u7c92\u5b50\u7684\u4e0a\u4e00\u65f6\u523b\u4f4d\u7f6e\u2014\u2014prevPosition<\/li>\n<li>\u7c92\u5b50\u7684\u672c\u65f6\u523b\u4f4d\u7f6e\u2014\u2014nowPosition<\/li>\n<li>\u7c92\u5b50\u7684\u4e0b\u4e00\u65f6\u523b\u4f4d\u7f6e\u2014\u2014nextPosition<\/li>\n<li>\u7d2f\u8ba1\u52a0\u901f\u5ea6\u2014\u2014acc<\/li>\n<li>\u7ea6\u675f\u51fd\u6570\u7ec4\u2014\u2014constraint<\/li>\n<li>\u7c92\u5b50\u8d28\u91cf\u2014\u2014mass<\/li>\n<li>\u521a\u5ea6\u2014\u2014stiffness<\/li>\n<li>\u963b\u5c3c\u2014\u2014damping<\/li>\n<li>\u91cd\u529b\u7b49\u73af\u5883\u7cfb\u6570\u2014\u2014gravity<\/li>\n<li>\u5916\u529b\u548c\u2014\u2014fext<\/li>\n<\/ol>\n<h6>\u7279\u6b8a\u5185\u5bb9<\/h6>\n<p>\u7c92\u5b50\u6784\u5efa\u65b9\u5f0f\uff08\u72ec\u7acb\u5f00\u4e00\u4e2a\u7bc7\u7ae0\uff09\uff0c\u9700\u8981\u6784\u5efa\u4e00\u4e2a\u5173\u7cfb\uff0c\u7c92\u5b50\u7684\u79fb\u52a8\u53d8\u5316\u4f1a\u5f71\u54cd\u5230\u6a21\u578b\u7684\u5916\u90e8\u7ed3\u6784\u53d8\u5316\u3002<\/p>\n<h3>\u8ba1\u7b97\u7ea6\u675f<\/h3>\n<p>\u8ba1\u7b97\u7ea6\u675f\u4e00\u822c\u6709\u5982\u4e0b\u7c7b\u578b\u7ea6\u675f\uff0c\u5728\u4e0d\u540c\u7684\u975e\u521a\u4f53\u5f0f\u7269\u7406\u8868\u8fbe\u4e2d\uff0c\u9700\u8981\u5e94\u7528\u4e0d\u540c\u7684\u7ea6\u675f<\/p>\n<ol>\n<li><strong>\u8ddd\u79bb\u7ea6\u675f\uff08Distance Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u4fdd\u6301\u4e24\u4e2a\u7c92\u5b50\u4e4b\u95f4\u7684\u8ddd\u79bb\u3002\u8fd9\u53ef\u4ee5\u6a21\u62df\u7269\u4f53\u7684\u5f62\u72b6\u548c\u7ed3\u6784\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u89d2\u5ea6\u7ea6\u675f\uff08Angle Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u7ea6\u675f\u7c92\u5b50\u4e4b\u95f4\u7684\u89d2\u5ea6\uff0c\u4ee5\u4fdd\u6301\u7269\u4f53\u7684\u89d2\u5ea6\u6216\u5f62\u72b6\u3002\u8fd9\u5728\u6a21\u62df\u67d4\u8f6f\u7269\u4f53\u65f6\u7279\u522b\u6709\u7528\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u5f2f\u66f2\u7ea6\u675f\uff08Bend Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u63cf\u8ff0\u7269\u4f53\u4e2d\u591a\u4e2a\u7c92\u5b50\u4e4b\u95f4\u7684\u66f2\u7387\u6216\u5f2f\u66f2\u7a0b\u5ea6\u3002\u9002\u7528\u4e8e\u67d4\u8f6f\u7684\u7269\u4f53\u6216\u7ef3\u7d22\u7b49\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u4f53\u79ef\u4fdd\u5b58\u7ea6\u675f\uff08Volume Preservation Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u4fdd\u6301\u7269\u4f53\u7684\u4f53\u79ef\u3002\u8fd9\u5bf9\u4e8e\u6a21\u62df\u6d41\u4f53\u6216\u67d4\u8f6f\u7ec4\u7ec7\u7b49\u60c5\u51b5\u5f88\u6709\u7528\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u78b0\u649e\u7ea6\u675f\uff08Collision Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u9632\u6b62\u7c92\u5b50\u7a7f\u8d8a\u8868\u9762\uff0c\u786e\u4fdd\u7269\u4f53\u4e4b\u95f4\u4e0d\u53d1\u751f\u78b0\u649e\u3002\u8fd9\u901a\u5e38\u9700\u8981\u4e0e\u5916\u90e8\u7684\u78b0\u649e\u68c0\u6d4b\u7ed3\u5408\u4f7f\u7528\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u56fa\u5b9a\u70b9\u7ea6\u675f\uff08Fixed Point Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u5c06\u67d0\u4e9b\u7c92\u5b50\u7684\u4f4d\u7f6e\u56fa\u5b9a\u5728\u7a7a\u95f4\u4e2d\u7684\u7279\u5b9a\u4f4d\u7f6e\uff0c\u7528\u4e8e\u6a21\u62df\u7269\u4f53\u7684\u56fa\u5b9a\u90e8\u5206\uff0c\u5982\u56fa\u5b9a\u70b9\u7684\u521a\u6027\u652f\u6491\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6cd5\u5411\u91cf\u7ea6\u675f\uff08Normal Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u4fdd\u6301\u8868\u9762\u7684\u6cd5\u5411\u91cf\u65b9\u5411\u3002\u8fd9\u5bf9\u4e8e\u786e\u4fdd\u67d4\u8f6f\u7269\u4f53\u7684\u8868\u9762\u5e73\u6ed1\u6027\u5f88\u6709\u5e2e\u52a9\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u62c9\u4f38\u7ea6\u675f\uff08Stretching Constraints\uff09\uff1a<\/strong>\n<ul>\n<li>\u7528\u4e8e\u9632\u6b62\u7269\u4f53\u7684\u62c9\u4f38\u6216\u6324\u538b\u3002\u8fd9\u53ef\u4ee5\u6a21\u62df\u6750\u6599\u7684\u5f39\u6027\u6027\u8d28\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h3>\u8fed\u4ee3\u7ea6\u675f\u6c42\u89e3<\/h3>\n<ol>\n<li><strong>\u521d\u59cb\u5316\uff1a<\/strong>\n<ul>\n<li>\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u957f\u7684\u5f00\u59cb\uff0c\u521d\u59cb\u5316\u7c92\u5b50\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u3002\u8fd9\u662f\u6574\u4e2a\u6a21\u62df\u7684\u8d77\u70b9\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u8ba1\u7b97\u7ea6\u675f\u8fdd\u53cd\u5ea6\uff1a<\/strong>\n<ul>\n<li>\u5bf9\u4e8e\u6bcf\u4e2a\u7ea6\u675f\uff0c\u8ba1\u7b97\u5f53\u524d\u7c92\u5b50\u4f4d\u7f6e\u4e0b\u7ea6\u675f\u7684\u8fdd\u53cd\u5ea6\u3002\u8fdd\u53cd\u5ea6\u662f\u6307\u5f53\u524d\u7c92\u5b50\u4f4d\u7f6e\u548c\u7ea6\u675f\u7406\u60f3\u72b6\u6001\u4e4b\u95f4\u7684\u5dee\u5f02\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u8fed\u4ee3\u6c42\u89e3\uff1a<\/strong>\n<ul>\n<li>\u5bf9\u4e8e\u6bcf\u4e2a\u7ea6\u675f\uff0c\u901a\u8fc7\u8fed\u4ee3\u6765\u9010\u6b65\u51cf\u5c0f\u8fdd\u53cd\u5ea6\u3002\u8fed\u4ee3\u7684\u6b21\u6570\u53ef\u4ee5\u6839\u636e\u9700\u8981\u8c03\u6574\uff0c\u66f4\u591a\u7684\u8fed\u4ee3\u901a\u5e38\u4f1a\u5bfc\u81f4\u66f4\u7cbe\u786e\u7684\u7ed3\u679c\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u66f4\u65b0\u7c92\u5b50\u4f4d\u7f6e\uff1a<\/strong>\n<ul>\n<li>\u5728\u6bcf\u6b21\u8fed\u4ee3\u4e2d\uff0c\u6839\u636e\u5f53\u524d\u7684\u7ea6\u675f\u60c5\u51b5\uff0c\u8c03\u6574\u7c92\u5b50\u7684\u4f4d\u7f6e\u3002\u8fd9\u901a\u5e38\u6d89\u53ca\u5230\u5e94\u7528\u67d0\u79cd\u4fee\u6b63\u6b65\u9aa4\uff0c\u4f8b\u5982\u5c06\u7c92\u5b50\u6cbf\u7740\u7ea6\u675f\u6cd5\u7ebf\u65b9\u5411\u79fb\u52a8\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u78b0\u649e\u5904\u7406\uff1a<\/strong>\n<ul>\n<li>\u5982\u679c\u7cfb\u7edf\u4e2d\u5305\u542b\u78b0\u649e\u7ea6\u675f\uff0c\u9700\u8981\u5728\u8fed\u4ee3\u4e2d\u5904\u7406\u78b0\u649e\u3002\u8fd9\u901a\u5e38\u6d89\u53ca\u5230\u68c0\u6d4b\u78b0\u649e\u5e76\u8c03\u6574\u7c92\u5b50\u4f4d\u7f6e\uff0c\u4ee5\u907f\u514d\u78b0\u649e\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u7ea6\u675f\u6743\u91cd\u548c\u786c\u5ea6\uff1a<\/strong>\n<ul>\n<li>\u5bf9\u4e8e\u6bcf\u4e2a\u7ea6\u675f\uff0c\u53ef\u80fd\u9700\u8981\u5b9a\u4e49\u6743\u91cd\u548c\u786c\u5ea6\u53c2\u6570\uff0c\u4ee5\u63a7\u5236\u7ea6\u675f\u7684\u5f71\u54cd\u7a0b\u5ea6\u3002\u8fd9\u53ef\u4ee5\u5728\u7cfb\u7edf\u4e2d\u8c03\u6574\uff0c\u4ee5\u5f71\u54cd\u6574\u4e2a\u6a21\u62df\u7684\u884c\u4e3a\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6536\u655b\u5224\u636e\uff1a<\/strong>\n<ul>\n<li>\u5b9a\u4e49\u4f55\u65f6\u7b97\u6cd5\u53ef\u4ee5\u505c\u6b62\u8fed\u4ee3\uff0c\u5373\u5f53\u7cfb\u7edf\u8fbe\u5230\u7a33\u5b9a\u72b6\u6001\u65f6\u3002\u8fd9\u901a\u5e38\u6d89\u53ca\u5230\u5224\u5b9a\u7ea6\u675f\u662f\u5426\u8db3\u591f\u63a5\u8fd1\u7406\u60f3\u72b6\u6001\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u65f6\u95f4\u6b65\u957f\u63a7\u5236\uff1a<\/strong>\n<ul>\n<li>\u53ef\u80fd\u9700\u8981\u63a7\u5236\u65f6\u95f4\u6b65\u957f\uff0c\u4ee5\u786e\u4fdd\u6a21\u62df\u7684\u7a33\u5b9a\u6027\u548c\u6548\u7387\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e9b\u6570\u503c\u65b9\u6cd5\u6765\u5b9e\u73b0\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<p>Example\uff1a\u5728\u8ba1\u7b97\u8fed\u4ee3\u4e2d\uff0c<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" cs=\"\">public class Particle\r\n{\r\n    public Vector3 position;\r\n    public Vector3 velocity;\r\n}\r\n\r\npublic class DistanceConstraint\r\n{\r\n    public Particle particle1;\r\n    public Particle particle2;\r\n    public float restDistance; \/\/ \u76ee\u6807\u8ddd\u79bb\r\n}\r\n\r\npublic class PBDConstraintSolver\r\n{\r\n    public void SolveDistanceConstraints(List&lt;DistanceConstraint&gt; distanceConstraints, int iterations)\r\n    {\r\n        for (int iteration = 0; iteration &lt; iterations; iteration++)\r\n        {\r\n            foreach (var constraint in distanceConstraints)\r\n            {\r\n                Vector3 delta = constraint.particle2.position - constraint.particle1.position;\r\n                float currentDistance = delta.magnitude;\r\n                float errorFactor = (currentDistance - constraint.restDistance) \/ currentDistance;\r\n\r\n                \/\/ \u8ba1\u7b97\u4fee\u6b63\u5411\u91cf\r\n                Vector3 correction = 0.5f * errorFactor * delta;\r\n\r\n                \/\/ \u5c06\u4fee\u6b63\u5e94\u7528\u5230\u7c92\u5b50\u4f4d\u7f6e\r\n                constraint.particle1.position += correction;\r\n                constraint.particle2.position -= correction;\r\n            }\r\n        }\r\n    }\r\n}\r\n<\/code><\/pre>\n<h3>\u78b0\u649e\u5904\u7406<\/h3>\n<p>\u78b0\u649e\u5904\u7406\u662f\u6574\u4e2a\u7269\u7406\u7cfb\u7edf\u7f16\u5199\u4e2d\u76f8\u5f53\u91cd\u8981\u4e14\u56f0\u96be\u7684\u4e00\u4e2a\u73af\u8282\uff0c\u4e00\u822c\u6765\u8bf4\uff0c\u78b0\u649e\u7684\u5904\u7406\u9700\u8981\u5177\u5907\u5982\u4e0b\u6d41\u7a0b<\/p>\n<ol>\n<li><strong>\u78b0\u649e\u68c0\u6d4b\uff08Collision Detection\uff09\uff1a<\/strong>\n<ul>\n<li>\u78b0\u649e\u68c0\u6d4b\u4e2d\uff0c\u9700\u8981\u5148\u8fdb\u884c\u4e00\u4e2a\u5185\u5916\u78b0\u649e\u7684\u533a\u5206\n<ul>\n<li>\u5185\uff1a\u8d28\u70b9\u81ea\u8eab\u548c\u5176\u4ed6\u8d28\u70b9\u7684\u78b0\u649e<\/li>\n<li>\u5916\uff1a\u548c\u5916\u90e8\u7269\u4f53\u7684\u4e00\u4e9b\u78b0\u649e\uff0c\u6bd4\u5982\u8bf4\u8d28\u70b9\u548c\u5730\u677f\u7684\u78b0\u649e\u7b49<\/li>\n<\/ul>\n<\/li>\n<li>\u68c0\u67e5\u54ea\u4e9bparticle\u6216\u8005\u7269\u4f53\u8868\u9762\u53d1\u751f\u4e86\u78b0\u649e\uff0c\u5fc5\u8981\u65f6\u6839\u636e\u4e0b\u4e00\u5e27\u7684\u4f4d\u7f6e\u8fdb\u884c\u9884\u6d4b<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u78b0\u649e\u54cd\u5e94\uff08Collision Response\uff09\uff1a<\/strong>\n<ul>\n<li>\u5982\u679c\u53d1\u73b0\u4e86\u78b0\u649e\uff0c\u9700\u8981\u5bf9\u78b0\u649e\u8fdb\u884c\u54cd\u5e94\uff0c\u5373\u8c03\u6574\u7269\u4f53\u7684\u4f4d\u7f6e\u4ee5\u907f\u514d\u7a7f\u8d8a\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u4fee\u6539\u78b0\u649e\u70b9\u9644\u8fd1\u7684\u7c92\u5b50\u4f4d\u7f6e\u6765\u5b9e\u73b0\u3002\u901a\u5e38\uff0c\u4f1a\u5728\u78b0\u649e\u8868\u9762\u4e0a\u6cbf\u6cd5\u5411\u91cf\u65b9\u5411\u79fb\u52a8\u7c92\u5b50\uff0c\u4f7f\u5176\u8131\u79bb\u78b0\u649e\u72b6\u6001\u3002<\/li>\n<li>\u53e6\u5916\uff0c\u90e8\u5206\u78b0\u649e\u4e2d\u53ef\u4ee5\u8bbe\u7f6eCollider Masker\u78b0\u649e\u63a9\u7801\u5c42\u7ea7\uff0c\u4ee5\u7279\u6b8a\u5316\u5904\u7406\u4e00\u4e9b\u4e0d\u613f\u610f\u78b0\u649e\u7684\u5185\u5bb9\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u8fed\u4ee3\u5904\u7406\u78b0\u649e\uff1a<\/strong>\n<ul>\n<li>\u78b0\u649e\u5904\u7406\u53ef\u80fd\u9700\u8981\u5728\u8fed\u4ee3\u4e2d\u8fdb\u884c\u591a\u6b21\uff0c\u4ee5\u786e\u4fdd\u7269\u4f53\u5728\u78b0\u649e\u68c0\u6d4b\u548c\u54cd\u5e94\u7684\u8fc7\u7a0b\u4e2d\u80fd\u591f\u9010\u6b65\u8d8b\u4e8e\u7a33\u5b9a\u3002\u4f60\u53ef\u80fd\u9700\u8981\u5728\u8fed\u4ee3\u4e2d\u591a\u6b21\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b\u548c\u54cd\u5e94\u6b65\u9aa4\u3002<\/li>\n<li>\u8fed\u4ee3\u8fc7\u7a0b\u8fd8\u8981\u8003\u8651\u548c\u5f15\u64ce\u672c\u8eab\u7684\u8fd0\u884c\u5468\u671f\u76f8\u5339\u914d\uff0c\u78b0\u649e\u7684\u5904\u7406\u5c5e\u4e8e\u7269\u7406\u5468\u671f\uff0c\u7269\u6d41\u5468\u671f\u7684\u8ba1\u7b97\u4e0d\u80fd\u8fc7\u957f\uff0c\u4e5f\u9700\u8981\u7559\u51fa\u89c6\u89c9\u6e32\u67d3\u5468\u671f<\/li>\n<li>\u90e8\u5206\u8fed\u4ee3\u78b0\u649e\u5904\u7406\u4e2d\u8fd8\u9700\u8981\u8003\u8651\u5408\u5e76\uff0c\u6709\u65f6\u4f1a\u4ea7\u751f\u591a\u4e2a\u78b0\u649e\u70b9\uff0c\u8fd9\u65f6\u5019\u9700\u8981\u8fdb\u884c\u4e00\u4e9b\u5408\u5e76\uff08\u201c\u5408\u6279\u201d\uff09\u7684\u7b97\u6cd5\u8bbe\u8ba1\uff0c\u5c06\u591a\u4e2a\u76f8\u90bb\u7684\u78b0\u649e\u70b9\u5408\u5e76\uff0c\u4ee5\u7edf\u4e00\u78b0\u649e\u4fe1\u606f<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u78b0\u649e\u7ea6\u675f\u7684\u96c6\u6210\uff1a<\/strong>\n<ul>\n<li>\u5c06\u78b0\u649e\u7ea6\u675f\u96c6\u6210\u5230\u6574\u4f53\u7684PBD\u7ea6\u675f\u7cfb\u7edf\u4e2d\u3002\u8fd9\u901a\u5e38\u9700\u8981\u4fee\u6539PBD\u7b97\u6cd5\u7684\u6c42\u89e3\u6b65\u9aa4\uff0c\u4ee5\u5305\u62ec\u5185\u78b0\u649e\u7684\u5f71\u54cd\u3002\u5728\u8fd9\u91cc\uff0c\u4f60\u9700\u8981\u7efc\u5408\u8003\u8651\u8ddd\u79bb\u7ea6\u675f\u3001\u78b0\u649e\u7ea6\u675f\u7b49\u4e0d\u540c\u7c7b\u578b\u7684\u7ea6\u675f\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<p>\u78b0\u649e\u5904\u7406\u7684\u65b9\u6cd5\u76f8\u5bf9\u6765\u8bf4\u5f88\u7279\u6b8a\uff0c\u800c\u4e14\u5b58\u5728\u5f88\u591a\u7684\u7279\u6b8a\u60c5\u51b5\u5904\u7406\u9700\u8981\u53bb\u5904\u7406\uff0c\u4e00\u822c\u6765\u8bf4\uff0c\u6781\u5176\u7cbe\u786e\u7684\u78b0\u649e\u5904\u7406\u53ef\u4ee5\u4f7f\u7528GJK\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b\uff0c\u5e76\u4e14\u4f7f\u7528EPA\u7b97\u6cd5\u8fdb\u884c\u78b0\u649e\u5d4c\u5165\u5411\u91cf\u8fd0\u7b97\u4ee5\u5b9e\u73b0\u78b0\u649e\u63a8\u79bb\u7684\u6548\u679c\uff0c\u8fd9\u4e24\u4e2a\u7b97\u6cd5\u90fd\u662f\u57fa\u4e8e\u8ba1\u7b97\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u5f97\u6765\u7684\uff0c\u4f46\u662f\u4ec5\u5728\u51f8\u7269\u4f53\u4e2d\u9002\u7528\uff0c\u800c\u67d4\u4f53\u5316\u7684\u53d8\u5f62\uff0c\u5f80\u5f80\u4f1a\u4ea7\u751f\u51f9\u9677\u6548\u679c\uff0c\u56e0\u6b64\u8fd9\u6761\u65b9\u6848\u9002\u7528\u4e8e\u521a\u4f53\u78b0\u649e\u68c0\u6d4b\uff0c\u800c\u67d4\u4f53\u4e0d\u9002\u7528\u3002<\/p>\n<p>\u4e00\u4e2aUnity\u7684\u5f88\u8457\u540d\u7684\u67d4\u4f53\u7b97\u6cd5\u5e93Obi\u91c7\u7528\u4e86Frank-Wolfe\u7684\u7b97\u6cd5\u8fdb\u884c\u7a7a\u95f4\u9884\u6d4b\u6765\u5b9e\u73b0\u78b0\u649e\u68c0\u6d4b\u5904\u7406\uff0c\u8fd9\u79cd\u65b9\u6cd5\u9700\u8981\u5904\u7406\u4e0b\u4e00\u5e27\u9884\u6d4b\uff0c\u5e76\u91c7\u7528\u4e86\u4e00\u79cd\u5229\u7528\u68af\u5ea6\u4e0b\u964d\u7684\u65b9\u6cd5\u8fdb\u884c\u78b0\u649e\u9884\u6d4b\u6c42\u89e3\uff0c\u8fd9\u79cd\u5bf9\u4e8e\u52a8\u6001\u7269\u4f53\u78b0\u649e\u9759\u6001\u7269\u4f53\u6709\u6548\u679c\uff0c\u4f46\u5bf9\u4e8e\u65f6\u523b\u6b63\u5728\u64cd\u63a7\u8005\u7684\u52a8\u6001\u7269\u4f53\u78b0\u649e\u52a8\u6001\u7269\u4f53\u6548\u679c\u4f9d\u7136\u4e0d\u662f\u5f88\u597d\u3002<\/p>\n<p>\u5728\u4e00\u4e9b\u7b80\u5355\u7684\u78b0\u649e\u5904\u7406\u65b9\u6cd5\u4e2d\uff0c\u53ef\u4ee5\u91c7\u7528\u5bf9\u6bcf\u4e00\u4e2a\u8d28\u70b9\u8bbe\u7f6e\u4e00\u4e2a\u5f71\u54cd\u534a\u5f84\uff08\u4e5f\u6709\u79f0\u547c\u4e3a\u5f71\u54cd\u57df\uff0cEffect 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