void Init_TetraBunny()
{
SoftBody psb = SoftBodyHelpers.CreateFromTetGenData(softBodyWorldInfo,
Bunny.GetElements(), null, Bunny.GetNodes(), false, true, true);
SoftWorld.AddSoftBody(psb);
psb.Rotate(Quaternion.RotationYawPitchRoll((float)Math.PI / 2, 0, 0));
psb.SetVolumeMass(150);
psb.Cfg.PIterations = 2;
//psb.Cfg.PIterations = 1;
cutting = false;
//psb.CollisionShape.Margin = 0.01f;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS; //| FCollisions.CLSelf;
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb.GenerateClusters(0);
//psb.Materials[0].Lst = 0.2f;
psb.Cfg.DF = 10;
}
void Init_ClothAttach()
{
float s = 4;
float h = 6;
int r = 9;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, h, -s),
new Vector3(+s, h, -s),
new Vector3(-s, h, +s),
new Vector3(+s, h, +s), r, r, 4 + 8, true);
SoftWorld.AddSoftBody(psb);
RigidBody body = LocalCreateRigidBody(20, Matrix.Translation(0, h, -(s + 3.5f)), new BoxShape(s, 1, 3));
psb.AppendAnchor(0, body);
psb.AppendAnchor(r - 1, body);
body.UserObject = "LargeBox";
cutting = true;
}
void InitBunny()
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, BunnyMesh.Vertices, BunnyMesh.Indices);
Material pm = psb.AppendMaterial();
pm.Lst = 0.5f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.PIterations = 2;
psb.Cfg.DF = 0.5f;
psb.RandomizeConstraints();
Matrix m = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) *
Matrix.Translation(0, 4, 0);
psb.Transform(m);
psb.Scale(new Vector3(6, 6, 6));
psb.SetTotalMass(100, true);
SoftWorld.AddSoftBody(psb);
cutting = true;
}
SoftBody CreateClusterTorus(Vector3 x, Vector3 a, Vector3 s)
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
Material pm = psb.AppendMaterial();
pm.Lst = 1;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.PIterations = 2;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
psb.RandomizeConstraints();
psb.Scale(s);
Matrix m = Matrix.RotationYawPitchRoll(a.X, a.Y, a.Z) * Matrix.Translation(x);
psb.Transform(m);
psb.SetTotalMass(50, true);
psb.GenerateClusters(64);
SoftWorld.AddSoftBody(psb);
return(psb);
}
void InitCutting1()
{
const float s = 6;
const float h = 2;
const int r = 16;
Vector3[] p =
{
new Vector3(+s, h, -s),
new Vector3(-s, h, -s),
new Vector3(+s, h, +s),
new Vector3(-s, h, +s)
};
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, p[0], p[1], p[2], p[3], r, r, 1 + 2 + 4 + 8, true);
SoftWorld.AddSoftBody(psb);
psb.Cfg.PIterations = 1;
cutting = true;
CullingEnabled = false;
}
void InitCapsuleCollision()
{
float s = 4;
float h = 6;
int r = 20;
Matrix startTransform = Matrix.Translation(0, h - 2, 0);
CollisionShape capsuleShape = new CapsuleShapeX(1, 5);
capsuleShape.Margin = 0.5f;
//capsuleShape.LocalScaling = new Vector3(5, 1, 1);
//RigidBody body = LocalCreateRigidBody(20, startTransform, capsuleShape);
RigidBody body = LocalCreateRigidBody(0, startTransform, capsuleShape);
body.Friction = 0.8f;
const int fixeds = 0; //4+8;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, h, -s),
new Vector3(+s, h, -s),
new Vector3(-s, h, +s),
new Vector3(+s, h, +s), r, r, fixeds, true);
SoftWorld.AddSoftBody(psb);
psb.TotalMass = 0.1f;
psb.Cfg.PIterations = 10;
psb.Cfg.CIterations = 10;
psb.Cfg.DIterations = 10;
//psb.Cfg.VIterations = 10;
//psb.AppendAnchor(0, body);
//psb.AppendAnchor(r-1, body);
//cutting = true;
CullingEnabled = false;
}
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);
}
public void SoftBodyDebugDrawHelpersTest()
{
var softBodyWorldInfo = new SoftBodyWorldInfo();
using (var debugDrawer = new DebugDrawer())
{
using (var softBody = SoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo, Vector3.Zero, new Vector3(1), 4))
{
SoftBodyHelpers.DrawInfos(softBody, debugDrawer, true, true, true);
Assert.That(debugDrawer.Draw3DTextCalled, Is.True);
SoftBodyHelpers.Draw(softBody, debugDrawer, SoftDrawFlags);
SoftBodyHelpers.DrawClusterTree(softBody, debugDrawer);
SoftBodyHelpers.DrawFaceTree(softBody, debugDrawer);
SoftBodyHelpers.DrawFrame(softBody, debugDrawer);
SoftBodyHelpers.DrawNodeTree(softBody, debugDrawer);
}
Assert.That(debugDrawer.DrawLineCalled, Is.True);
}
softBodyWorldInfo.Dispose();
}
void Init_Cloth()
{
float s = 8;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, 0, -s),
new Vector3(+s, 0, -s),
new Vector3(-s, 0, +s),
new Vector3(+s, 0, +s),
31, 31,
1 + 2 + 4 + 8, true);
psb.CollisionShape.Margin = 0.5f;
Material pm = psb.AppendMaterial();
pm.Lst = 0.4f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
Create_RbUpStack(10);
cutting = true;
}
void InitCollide3()
{
float s = 8;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, 0, -s),
new Vector3(+s, 0, -s),
new Vector3(-s, 0, +s),
new Vector3(+s, 0, +s),
15, 15, 1 + 2 + 4 + 8, true);
psb.Materials[0].Lst = 0.4f;
psb.Cfg.Collisions |= FCollisions.VFSS;
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
s = 4;
Vector3 o = new Vector3(5, 10, 0);
psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo,
new Vector3(-s, 0, -s) + o,
new Vector3(+s, 0, -s) + o,
new Vector3(-s, 0, +s) + o,
new Vector3(+s, 0, +s) + o,
7, 7, 0, true);
Material pm = psb.AppendMaterial();
pm.Lst = 0.1f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Materials[0].Lst = 0.5f;
psb.Cfg.Collisions |= FCollisions.VFSS;
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
cutting = true;
CullingEnabled = false;
}
internal override bool _BuildCollisionObject()
{
Mesh mesh = meshSettings.Build();
if (mesh == null)
{
Debug.LogError("Could not build mesh from meshSettings for " + this);
return(false);
}
GetComponent <MeshFilter>().sharedMesh = mesh;
if (World == null)
{
return(false);
}
//convert the mesh data to Bullet data and create SoftBody
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(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
internal override bool _BuildCollisionObject()
{
if (meshSettings.numPointsInRope < 2)
{
Debug.LogError("There must be at least two points in the rope");
return(false);
}
if (SoftBodySettings.totalMass <= 0f)
{
Debug.LogError("The rope must have a positive mass");
return(false);
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateRope(World.WorldInfo,
meshSettings.startPoint.ToBullet(), meshSettings.endPoint.ToBullet(), meshSettings.numPointsInRope, 0);
m_collisionObject = m_BSoftBody;
verts = new Vector3[m_BSoftBody.Nodes.Count];
norms = new Vector3[m_BSoftBody.Nodes.Count];
for (int i = 0; i < m_BSoftBody.Nodes.Count; i++)
{
verts[i] = m_BSoftBody.Nodes[i].Position.ToUnity();
norms[i] = m_BSoftBody.Nodes[i].Normal.ToUnity();
}
//Set SB settings
SoftBodySettings.ConfigureSoftBody(m_BSoftBody);
foreach (RopeAnchor anchor in ropeAnchors)
{
//anchorNode point 0 to 1, rounds to node #
int node = (int)Mathf.Floor(Mathf.Lerp(0, m_BSoftBody.Nodes.Count - 1, anchor.anchorNodePoint));
if (anchor.body != null)
{
m_BSoftBody.AppendAnchor(node, (BulletSharp.RigidBody)anchor.body.GetCollisionObject());
}
else
{
m_BSoftBody.SetMass(node, 0); //setting node mass to 0 fixes it in space apparently
}
}
//TODO: lr, Doesnt always work in editor
LineRenderer lr = GetComponent <LineRenderer>();
lr.useWorldSpace = false;
lr.SetVertexCount(verts.Length);
lr.SetWidth(meshSettings.width, meshSettings.width);
lr.SetColors(meshSettings.startColor, meshSettings.endColor);
//Set SB position to GO position
//m_BSoftBody.Rotate(transform.rotation.ToBullet());
//m_BSoftBody.Translate(transform.position.ToBullet());
//m_BSoftBody.Scale(transform.localScale.ToBullet());
UpdateMesh();
return(true);
}
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);
}
