void InitTetraCube()
{
string path = System.IO.Path.GetDirectoryName(Application.ExecutablePath);
SoftBody psb = SoftBodyHelpers.CreateFromTetGenFile(softBodyWorldInfo,
path + "\\data\\cube.ele", null, path + "\\data\\cube.node", false, true, true);
SoftWorld.AddSoftBody(psb);
psb.Scale(new Vector3(4, 4, 4));
psb.Translate(0, 5, 0);
psb.SetVolumeMass(300);
// fix one vertex
//psb.SetMass(0,0);
//psb.SetMass(10,0);
//psb.SetMass(20,0);
psb.Cfg.PIterations = 1;
//psb.GenerateClusters(128);
psb.GenerateClusters(16);
//psb.CollisionShape.Margin = 0.5f;
psb.CollisionShape.Margin = 0.01f;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
// | FCollisions.CLSelf;
psb.Materials[0].Lst = 0.8f;
cutting = false;
CullingEnabled = false;
}
internal override bool _BuildCollisionObject()
{
Mesh mesh = meshSettings.Build();
GetComponent <MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = mesh.vertices[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
internal override bool _BuildCollisionObject()
{
//Mesh mesh = new Mesh();
//GetComponent<MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[actuallyverts.Count];
for (int i = 0; i < actuallyverts.Count; i++)
{
bVerts[i] = actuallyverts[i].ToBullet();
}
SoftBody m_BSoftBody = CreateVolumetricSoftbody(World.WorldInfo, bVerts);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected && this.FShapes.PluginIO.IsConnected)
{
List <SoftBody> bodies = new List <SoftBody>();
for (int i = 0; i < SpreadMax; i++)
{
if (FDoCreate[i])
{
AbstractSoftShapeDefinition shapedef = this.FShapes[i];
SoftBody body = shapedef.GetSoftBody(this.FWorld[0].WorldInfo);
body.Translate(this.FPosition[i].ToBulletVector());
body.Scale(this.FScale[i].ToBulletVector());
body.Rotate(this.FRotate[i].ToBulletQuaternion());
body.Friction = this.FFriction[i];
body.Restitution = this.FRestitution[i];
SoftBodyCustomData bd = new SoftBodyCustomData();
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
bd.HasUV = shapedef.HasUV;
bd.UV = shapedef.GetUV(body);
body.UserObject = bd;
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
bodies.Add(body);
}
}
this.FOutBodies.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
this.FOutBodies[i] = bodies[i];
}
}
else
{
this.FOutBodies.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected && this.FShapes.PluginIO.IsConnected)
{
List <SoftBody> bodies = new List <SoftBody>();
for (int i = 0; i < SpreadMax; i++)
{
if (FDoCreate[i])
{
AbstractSoftShapeDefinition shapedef = this.FShapes[i];
SoftBody body = shapedef.GetSoftBody(this.FWorld[0].WorldInfo);
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
body.Translate(pose.Position);
body.Scale(this.FScale[i].ToBulletVector());
body.Rotate(pose.Orientation);
body.Friction = this.FFriction[i];
body.Restitution = this.FRestitution[i];
SoftBodyCustomData bd = new SoftBodyCustomData(this.FWorld[0].GetNewSoftBodyId());
bd.Custom = this.FCustom[i];
bd.HasUV = shapedef.HasUV;
bd.UV = shapedef.GetUV(body);
bd.Definition = shapedef;
body.UserObject = bd;
this.FWorld[0].Register(body);
bodies.Add(body);
//Attach if to all nodes
for (int j = 0; j < body.Nodes.Count; j++)
{
body.Nodes[j].Tag = (IntPtr)j;
}
}
}
this.FOutBodies.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
this.FOutBodies[i] = bodies[i];
}
}
else
{
this.FOutBodies.SliceCount = 0;
}
}
SoftBody CreateSoftBoulder(Vector3 p, Vector3 s, int np)
{
Random random = new Random();
Vector3[] pts = new Vector3[np];
for (int i = 0; i < np; ++i)
{
pts[i] = GetRandomVector(random) * s;
}
SoftBody psb = SoftBodyHelpers.CreateFromConvexHull(softBodyWorldInfo, pts);
psb.GenerateBendingConstraints(2);
psb.Translate(p);
SoftWorld.AddSoftBody(psb);
return(psb);
}
SoftBody Create_SoftBox(Vector3 p, Vector3 s)
{
Vector3 h = s * 0.5f;
Vector3[] c = new Vector3[] {
h *new Vector3(-1, -1, -1),
h *new Vector3(+1, -1, -1),
h *new Vector3(-1, +1, -1),
h *new Vector3(+1, +1, -1),
h *new Vector3(-1, -1, +1),
h *new Vector3(+1, -1, +1),
h *new Vector3(-1, +1, +1),
h *new Vector3(+1, +1, +1)
};
SoftBody psb = SoftBodyHelpers.CreateFromConvexHull(softBodyWorldInfo, c);
psb.GenerateBendingConstraints(2);
psb.Translate(p);
SoftWorld.AddSoftBody(psb);
return(psb);
}
void InitClusterCar()
{
//SetAzi(180);
Vector3 origin = new Vector3(100, 80, 0);
Quaternion orientation = Quaternion.RotationYawPitchRoll(-(float)Math.PI / 2, 0, 0);
const float widthf = 8;
const float widthr = 9;
const float length = 8;
const float height = 4;
Vector3[] wheels =
{
new Vector3(+widthf, -height, +length), // Front left
new Vector3(-widthf, -height, +length), // Front right
new Vector3(+widthr, -height, -length), // Rear left
new Vector3(-widthr, -height, -length), // Rear right
};
SoftBody pa = CreateClusterBunny(Vector3.Zero, Vector3.Zero);
SoftBody pfl = CreateClusterTorus(wheels[0], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 4, 2));
SoftBody pfr = CreateClusterTorus(wheels[1], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 4, 2));
SoftBody prl = CreateClusterTorus(wheels[2], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 5, 2));
SoftBody prr = CreateClusterTorus(wheels[3], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 5, 2));
pfl.Cfg.DF =
pfr.Cfg.DF =
prl.Cfg.DF =
prr.Cfg.DF = 1;
using (var lspecs = new LJoint.Specs())
{
lspecs.Cfm = 1;
lspecs.Erp = 1;
lspecs.Position = wheels[0]; pa.AppendLinearJoint(lspecs, pfl);
lspecs.Position = wheels[1]; pa.AppendLinearJoint(lspecs, pfr);
lspecs.Position = wheels[2]; pa.AppendLinearJoint(lspecs, prl);
lspecs.Position = wheels[3]; pa.AppendLinearJoint(lspecs, prr);
}
using (var aspecs = new AJoint.Specs())
{
aspecs.Cfm = 1;
aspecs.Erp = 1;
aspecs.Axis = new Vector3(1, 0, 0);
aspecs.Control = steerControlF;
pa.AppendAngularJoint(aspecs, pfl);
pa.AppendAngularJoint(aspecs, pfr);
aspecs.Control = motorControl;
pa.AppendAngularJoint(aspecs, prl);
pa.AppendAngularJoint(aspecs, prr);
}
pa.Rotate(orientation);
pfl.Rotate(orientation);
pfr.Rotate(orientation);
prl.Rotate(orientation);
prr.Rotate(orientation);
pa.Translate(origin);
pfl.Translate(origin);
pfr.Translate(origin);
prl.Translate(origin);
prr.Translate(origin);
pfl.Cfg.PIterations =
pfr.Cfg.PIterations =
prl.Cfg.PIterations =
prr.Cfg.PIterations = 1;
pfl.Clusters[0].Matching =
pfr.Clusters[0].Matching =
prl.Clusters[0].Matching =
prr.Clusters[0].Matching = 0.05f;
pfl.Clusters[0].NodeDamping =
pfr.Clusters[0].NodeDamping =
prl.Clusters[0].NodeDamping =
prr.Clusters[0].NodeDamping = 0.05f;
CreateStairs(20, new Vector3(0, -8, 0), new Vector3(3, 2, 40));
CreateRigidBodyStack(50);
}
public override void Build()
{
AddGround();
for (int i = 0; i < 15; i++)
{
bool even = (i % 2 == 0);
for (int e = 0; e < 3; e++)
{
JVector size = (even) ? new JVector(1, 1, 3) : new JVector(3, 1, 1);
RigidBody body = new RigidBody(new BoxShape(size));
body.Position = new JVector(3.0f + (even ? e : 1.0f), i + 0.5f, -5.0f + (even ? 1.0f : e));
Demo.World.AddBody(body);
}
}
/*Model model = this.Demo.Content.Load<Model>("Model/torus");
*
* List<TriangleVertexIndices> indices = new List<TriangleVertexIndices>();
* List<JVector> vertices = new List<JVector>();
*
* ConvexHullObject.ExtractData(vertices, indices, model);
* RemoveDuplicateVertices(indices, vertices);
*
* softBodyTorus = new SoftBody(indices, vertices);
*
* softBodyTorus.Translate(new JVector(10, 5, 0));
* softBodyTorus.Pressure = 50.0f;
* softBodyTorus.SetSpringValues(0.2f, 0.005f);
* //softBodyTorus.SelfCollision = true; ;
* softBodyTorus.Material.KineticFriction = 0.9f;
* softBodyTorus.Material.StaticFriction = 0.95f;
*
* Demo.World.AddBody(softBodyTorus);*/
softBodyCloth = new SoftBody(20, 20, 0.4f);
// ##### Uncomment for selfcollision, all 3 lines
//cloth.SelfCollision = true;
//cloth.TriangleExpansion = 0.05f;
//cloth.VertexExpansion = 0.05f;
softBodyCloth.Translate(new JVector(0, 10, 10));
softBodyCloth.Material.KineticFriction = 0.9f;
softBodyCloth.Material.StaticFriction = 0.95f;
softBodyCloth.VertexBodies[0].IsStatic = true;
softBodyCloth.VertexBodies[380].IsStatic = true;
softBodyCloth.VertexBodies[19].IsStatic = true;
softBodyCloth.VertexBodies[399].IsStatic = true;
softBodyCloth.SetSpringValues(SoftBody.SpringType.EdgeSpring, 0.1f, 0.01f);
softBodyCloth.SetSpringValues(SoftBody.SpringType.ShearSpring, 0.1f, 0.03f);
softBodyCloth.SetSpringValues(SoftBody.SpringType.BendSpring, 0.1f, 0.03f);
// ###### Uncomment here for a better visualization
//Demo.Components.Add(new ClothObject(Demo, cloth));
Demo.World.AddBody(softBodyCloth);
}
internal override bool _BuildCollisionObject()
{
if (World == null)
{
return(false);
}
if (transform.localScale != Vector3.one)
{
Debug.LogError("The scale must be 1,1,1");
}
if (bone2idxMap == null || bone2idxMap.Length == 0)
{
Debug.LogError("No bones have been mapped to soft body nodes for object " + name);
}
for (int i = 0; i < anchors.Length; i++)
{
if (anchors[i].anchorRigidBody == null)
{
Debug.LogError("No anchor rigid body has been set for anchor " + i);
}
if (anchors[i].anchorNodeIndexes == null || anchors[i].anchorNodeIndexes.Count == 0)
{
Debug.LogError("No nodes have been identified as anchors. Soft body will not be attached to RigidBody anchor " + anchors[i].anchorRigidBody);
}
}
if (physicsSimMesh == null)
{
physicsSimMesh = GetComponent <MeshFilter>();
}
Mesh mesh = physicsSimMesh.sharedMesh;
//convert the mesh data to Bullet data and create DoftBody
//todo should these be in world coordinates
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
Vector3[] verts = mesh.vertices;
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = verts[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(physicsSimMesh.transform.rotation.ToBullet());
m_BSoftBody.Translate(physicsSimMesh.transform.position.ToBullet());
m_BSoftBody.Scale(physicsSimMesh.transform.localScale.ToBullet());
for (int i = 0; i < anchors.Length; i++)
{
BAnchor a = anchors[i];
for (int j = 0; j < a.anchorNodeIndexes.Count; j++)
{
m_BSoftBody.AppendAnchor(a.anchorNodeIndexes[j], (RigidBody)a.anchorRigidBody.GetCollisionObject(), false, a.anchorNodeStrength[j]);
}
}
MeshRenderer mr = physicsSimMesh.GetComponent <MeshRenderer>();
if (mr != null)
{
if (debugDisplaySimulatedMesh)
{
mr.enabled = true;
}
else
{
mr.enabled = false;
}
}
if (norms.Length == 0 || norms.Length != verts.Length)
{
norms = new Vector3[m_BSoftBody.Nodes.Count];
verts = new Vector3[m_BSoftBody.Nodes.Count];
}
for (int i = 0; i < m_BSoftBody.Nodes.Count; i++)
{
norms[i] = m_BSoftBody.Nodes[i].Normal.ToUnity();
verts[i] = m_BSoftBody.Nodes[i].Position.ToUnity();
}
for (int i = 0; i < bone2idxMap.Length; i++)
{
bone2idxMap[i].bindNormal = norms[bone2idxMap[i].nodeIdx];
bone2idxMap[i].bindBoneRotation = bone2idxMap[i].bone.rotation;
for (int j = 0; j < bone2idxMap[i].edges.Length; j++)
{
bone2idxMap[i].edges[j].bindEdgeXnorm = Vector3.Cross(verts[bone2idxMap[i].edges[j].nodeIdx] - verts[bone2idxMap[i].nodeIdx], norms[bone2idxMap[i].nodeIdx]).normalized;
}
}
return(true);
}