public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiBendTwistConstraintsBatch;
var user = actor as IBendTwistConstraintsUser;
if (batch != null && user != null)
{
if (!user.bendTwistConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyReplicate(new Vector3(user.torsionCompliance, user.bend1Compliance, user.bend2Compliance), m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
{
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiPinConstraintsBatch;
if (batch != null)
{
particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i];
colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiShapeMatchingConstraintsBatch;
var user = actor as IShapeMatchingConstraintsUser;
if (batch != null && user != null)
{
if (!user.shapeMatchingConstraintsEnabled)
{
return;
}
int initialIndexCount = particleIndices.count;
// shape matching constraint particle indices are not reordered when deactivating constraints,
// so instead of using batch.activeConstraintCount, batch.constraintCount. We need all of them.
int numActiveIndices = 0;
for (int i = 0; i < batch.constraintCount; ++i)
{
numActiveIndices += batch.numIndices[i];
}
particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
firstIndex.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
numIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
explicitGroup.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
materialParameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
restComs.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
coms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
orientations.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
numIndices.CopyFrom(batch.numIndices, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
explicitGroup.CopyFrom(batch.explicitGroup, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
orientations.CopyReplicate(actor.actorLocalToSolverMatrix.rotation, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < numActiveIndices; ++i)
{
particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
firstIndex[m_ActiveConstraintCount + i] = batch.firstIndex[i] + initialIndexCount;
materialParameters[(m_ActiveConstraintCount + i) * 5] = user.deformationResistance;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 1] = user.plasticYield;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 2] = user.plasticCreep;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 3] = user.plasticRecovery;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 4] = user.maxDeformation;
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiStretchShearConstraintsBatch;
var user = actor as IStretchShearConstraintsUser;
if (batch != null && user != null)
{
if (!user.stretchShearConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyReplicate(new Vector3(user.stretchCompliance, user.shear1Compliance, user.shear2Compliance), m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
{
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]];
}
base.Merge(actor, other);
}
}
