/// <summary>
/// MakeRope and AddPendulum may NOT be called on the same frame. You must wait for the MakeRope coroutine to finish first, as creating a rope is an asynchronous operation.
/// Just adds a pendulum to the rope on the un-anchored end.
/// </summary>
public void AddPendulum(ObiCollider pendulum, Vector3 attachmentOffset)
{
// simply add a new pin constraint (see http://obi.virtualmethodstudio.com/tutorials/scriptingconstraints.html)
/*rope.PinConstraints.RemoveFromSolver(null);
* ObiPinConstraintBatch batch = (ObiPinConstraintBatch)rope.PinConstraints.GetFirstBatch();
* batch.AddConstraint(pinnedParticle, pendulum, attachmentOffset,Quaternion.identity, 1);
* rope.PinConstraints.AddToSolver(null);*/
}
private void PinRope(ObiRope rope, ObiCollider bodyA, ObiCollider bodyB, Vector3 offsetA, Vector3 offsetB)
{
// Pin both ends of the rope (this enables two-way interaction between character and rope):
var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints <ObiPinConstraintsBatch>;
pinConstraints.Clear();
var batch = new ObiPinConstraintsBatch();
batch.AddConstraint(rope.solverIndices[0], bodyA, offsetA, Quaternion.identity, 0, 999, float.PositiveInfinity);
batch.AddConstraint(rope.solverIndices[rope.activeParticleCount - 1], bodyB, offsetB, Quaternion.identity, 0, 999, float.PositiveInfinity);
batch.activeConstraintCount = 2;
pinConstraints.AddBatch(batch);
}
private void CreateNet(ObiSolver solver)
{
ObiCollider[,] nodes = new ObiCollider[resolution.x + 1, resolution.y + 1];
for (int x = 0; x <= resolution.x; ++x)
{
for (int y = 0; y <= resolution.y; ++y)
{
GameObject rb = GameObject.CreatePrimitive(PrimitiveType.Cube);
rb.AddComponent <Rigidbody>();
rb.transform.position = new Vector3(x, y, 0) * size;
rb.transform.localScale = new Vector3(nodeSize, nodeSize, nodeSize);
nodes[x, y] = rb.AddComponent <ObiCollider>();
nodes[x, y].Phase = 1;
}
}
nodes[0, resolution.y].GetComponent <Rigidbody>().isKinematic = true;
nodes[resolution.x, resolution.y].GetComponent <Rigidbody>().isKinematic = true;
for (int x = 0; x <= resolution.x; ++x)
{
for (int y = 0; y <= resolution.y; ++y)
{
Vector3 pos = new Vector3(x, y, 0) * size;
if (x < resolution.x)
{
Vector3 offset = new Vector3(nodeSize * 0.5f, 0, 0);
var rope = CreateRope(pos + offset, pos + new Vector3(size.x, 0, 0) - offset);
rope.transform.parent = solver.transform;
PinRope(rope, nodes[x, y], nodes[x + 1, y], new Vector3(0.5f, 0, 0), -new Vector3(0.5f, 0, 0));
}
if (y < resolution.y)
{
Vector3 offset = new Vector3(0, nodeSize * 0.5f, 0);
var rope = CreateRope(pos + offset, pos + new Vector3(0, size.y, 0) - offset);
rope.transform.parent = solver.transform;
PinRope(rope, nodes[x, y], nodes[x, y + 1], new Vector3(0, 0.5f, 0), -new Vector3(0, 0.5f, 0));
}
}
}
}
private void SetPinConstraints(ObiCollider objectToStick, Vector3 normal)
{
pinConstraintBatch.RemoveConstraint(contraintIndexOne);
UpdateIndex();
pinConstraintBatch.RemoveConstraint(contraintIndexTwo);
UpdateIndex();
gameObject.SetActive(false);
pinConstraintBatch.AddConstraint(particleIndexOne, objectToStick,
objectToStick.transform.InverseTransformPoint(obiRope.GetParticlePosition(particleIndexOne) - transform.lossyScale.x * normal), Quaternion.identity, 0);
//UpdateIndex();
pinConstraintBatch.AddConstraint(particleIndexTwo, objectToStick,
objectToStick.transform.InverseTransformPoint(obiRope.GetParticlePosition(particleIndexOne) - transform.lossyScale.x * normal + particlesDistance * normal), Quaternion.identity, 0);
UpdateIndex();
//obiCollider.ParentChange();
}
// Use this for initialization
void Start()
{
restDarboux = new Quaternion(0.7f, 0.0f, 0.0f, 0.7f); // constant
offset = new Vector3(0.2f, -1.0f, -0.3f);
offsetNeg = new Vector3(-0.2f, -1.0f, -0.3f);
leftController = VRTK_DeviceFinder.GetControllerLeftHand();
rightController = VRTK_DeviceFinder.GetControllerRightHand();
leftHandler = GameObject.Find("left_hand");
rightHandler = GameObject.Find("right_hand");
tapeSection = GameObject.Find("clothPart");
obiCloth = tapeSection.GetComponent <ObiCloth>();
leftCollider = leftHandler.GetComponent <ObiCollider>();
rightCollider = rightHandler.GetComponent <ObiCollider>();
hint = GameObject.FindGameObjectsWithTag("Hint");
audioHint[0] = false;
audioHint[1] = false;
audioHint[2] = false;
audioHint[3] = false;
stickPos[0] = GameObject.Find("StickPos_1");
stickPos[1] = GameObject.Find("StickPos_2");
stickPos[2] = GameObject.Find("StickPos_3");
stickPos[3] = GameObject.Find("StickPos_4");
foreach (var item in hint)
{
ParticleSystem particleSystem = item.GetComponent <ParticleSystem>();
if (!particleSystem.isStopped)
{
particleSystem.Stop();
}
}
Debug.Log("current part: " + StaticData.getTargetNum());
string leftPath = "[VRTK_SDKManager]/SDKSetups/SteamVR/[CameraRig]/Controller (left)/Model";
rightHighlighter = GameObject.Find(leftPath).GetComponent <VRTK_ControllerHighlighter>();
string rightPath = "[VRTK_SDKManager]/SDKSetups/SteamVR/[CameraRig]/Controller (right)/Model";
rightHighlighter = GameObject.Find(rightPath).GetComponent <VRTK_ControllerHighlighter>();
}
private void OnCollisionEnter(Collision collision)
{
if (!isActivateStick)
{
return;
}
if (collision.transform.CompareTag("StickcableObject"))
{
ObiCollider ObjectToStick = collision.gameObject.GetComponent <ObiCollider>();
Vector3 Normal = collision.GetContact(0).normal;
pinConstrain.RemoveFromSolver(null);
Vector3 DistanceVector = transform.TransformPoint(particleOffsetOne) -
transform.TransformPoint(particleOffsetTwo);
particlesDistance = DistanceVector.magnitude;
SetPinConstraints(ObjectToStick, Normal);
pinConstrain.AddToSolver(null);
isStuck = true;
DisActivateSticky();
}
}
private void BuildActionPillar()
{
inactiveVector.y = 2.5f;
transform.position = inactiveVector;
string tileName = $"[{tile.coordinates[0]},{tile.coordinates[1]},{tile.coordinates[2]}]";
string actionName = $"[{String.Join(",", tile.actions)}]";
GameObject actionPillar = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
actionPillar.transform.position = new Vector3(
transform.position.x,
0.5f,
transform.position.z
);
actionPillar.transform.localScale = new Vector3(0.5f, 2, 0.5f);
actionPillar.name = $"{tileName}:{actionName}";
ObiCollider collider = actionPillar.AddComponent(typeof(ObiCollider)) as ObiCollider;
collider.Thickness = 0.2f;
collider.CollisionMaterial = new ObiCollisionMaterial();
}
void Awake()
{
collider = GetComponent <ObiCollider>();
}
private HashSet <ObiActor> grabbedActors = new HashSet <ObiActor>(); /**< set of softbodies grabbed during this step.*/
private void Awake()
{
localCollider = GetComponent <ObiCollider>();
}
public IEnumerator MakeRope()
{
print("Load Extraction Rope");
ropeObject = new GameObject("rope",
typeof(ObiSolver),
typeof(ObiRope),
typeof(ObiCatmullRomCurve),
typeof(ObiRopeCursor));
// get references to all components:
ObiSolver solver = ropeObject.GetComponent <ObiSolver>();
rope = ropeObject.GetComponent <ObiRope>();
ObiCatmullRomCurve path = ropeObject.GetComponent <ObiCatmullRomCurve>();
//ObiRopeCursor cursor = ropeObject.GetComponent<ObiRopeCursor>();
// set up component references
rope.Solver = solver;
rope.ropePath = path;
rope.section = (ObiRopeSection)Resources.Load("DefaultRopeSection");
rope.GetComponent <MeshRenderer>().material = material;
//cursor.rope = rope;
// Calculate rope start/end and direction in local space: (plus offset)
Vector3 localStart = transform.InverseTransformPoint(chutes[0].transform.position + new Vector3(0, 0.2f, 0));
Vector3 localEnd = transform.InverseTransformPoint(payloads[0].transform.position + new Vector3(0, 0.5f, 0));
Vector3 direction = (localEnd - localStart).normalized;
// Generate rope path:
path.controlPoints.Clear();
path.controlPoints.Add(localStart - direction);
path.controlPoints.Add(localStart);
path.controlPoints.Add(localEnd);
path.controlPoints.Add(localEnd + direction);
//correct thickness, particle resolution, and parenting
rope.thickness = 0.025f;
rope.resolution = 0.05f;
rope.transform.parent = payloads[0].transform;
yield return(rope.StartCoroutine(rope.GeneratePhysicRepresentationForMesh()));
rope.AddToSolver(null);
//extractionCollider = new ObiCollider();
//cargoCollider = new ObiCollider();
BoxCollider extractionBox = chutes[0].AddComponent <BoxCollider>();
extractionBox.size = Vector3.zero;
BoxCollider cargoBox = payloads[0].AddComponent <BoxCollider>();
cargoBox.center = new Vector3(0.0f, 0.25f, 0.0f);
cargoBox.size = new Vector3(0.5f, 0.5f, 0.5f);
extractionCollider = chutes[0].AddComponent <ObiCollider>();
cargoCollider = payloads[0].AddComponent <ObiCollider>();
// remove the constraints from the solver, because we cannot modify the constraints list while the solver is using it.
rope.PinConstraints.RemoveFromSolver(null);
ObiPinConstraintBatch constraintsBatch = rope.PinConstraints.GetFirstBatch();
constraintsBatch.AddConstraint(0, extractionCollider, Vector3.zero, 0.0f);
constraintsBatch.AddConstraint(rope.UsedParticles - 1, cargoCollider, new Vector3(0, 0.5f, -0.25f), 0.0f);
rope.PinConstraints.AddToSolver(null);
rope.PinConstraints.PushDataToSolver();
}
IEnumerator Setup()
{
extractionObject = (GameObject)Instantiate(models[0]);
heavyCargoObject = (GameObject)Instantiate(models[1]);
extractionObject.transform.position = initialExtractionPos;
heavyCargoObject.transform.position = initialHeavyCargoPos;
start = extractionObject.transform;
end = heavyCargoObject.transform;
// Get all needed components and interconnect them:
rope = GetComponent <ObiRope>();
path = GetComponent <ObiCatmullRomCurve>();
rope.Solver = (ObiSolver)Instantiate(solver);
rope.ropePath = path;
rope.section = section;
GetComponent <MeshRenderer>().material = material;
// Calculate rope start/end and direction in local space: (plus offset)
Vector3 localStart = transform.InverseTransformPoint(start.position + new Vector3(0, 0.2f, 0));
Vector3 localEnd = transform.InverseTransformPoint(end.position + new Vector3(0, 0.5f, 0));
Vector3 direction = (localEnd - localStart).normalized;
// Generate rope path:
path.controlPoints.Clear();
path.controlPoints.Add(localStart - direction);
path.controlPoints.Add(localStart);
path.controlPoints.Add(localEnd);
path.controlPoints.Add(localEnd + direction);
//correct thickness, particle resolution, and parenting
rope.thickness = 0.025f;
rope.resolution = 0.05f;
rope.transform.parent = heavyCargoObject.transform;
// Generate particles and add them to solver:
yield return(StartCoroutine(rope.GeneratePhysicRepresentationForMesh()));
rope.AddToSolver(null);
// Fix first and last particle in place:
//rope.invMasses[0] = 0;
//rope.invMasses[rope.UsedParticles-1] = 0;
//Oni.SetParticleInverseMasses(solver.OniSolver,new float[]{0},1,rope.particleIndices[0]);
//Oni.SetParticleInverseMasses(solver.OniSolver,new float[]{0},1,rope.particleIndices[rope.UsedParticles-1]);
constraints = rope.GetComponent <ObiPinConstraints>();
constraintsBatch = rope.PinConstraints.GetFirstBatch();
extractionCollider = new ObiCollider();
cargoCollider = new ObiCollider();
BoxCollider extractionBox = extractionObject.AddComponent <BoxCollider>();
extractionBox.size = Vector3.zero;
BoxCollider cargoBox = heavyCargoObject.AddComponent <BoxCollider>();
cargoBox.center = new Vector3(0.0f, 0.5f, 0.0f);
extractionCollider = extractionObject.AddComponent(typeof(ObiCollider)) as ObiCollider;
cargoCollider = heavyCargoObject.AddComponent(typeof(ObiCollider)) as ObiCollider;
// remove the constraints from the solver, because we cannot modify the constraints list while the solver is using it.
constraints.RemoveFromSolver(null);
constraintsBatch.AddConstraint(0, extractionCollider, Vector3.zero, 0.0f);
constraintsBatch.AddConstraint(rope.UsedParticles - 1, cargoCollider, Vector3.zero, 0.0f);
constraints.AddToSolver(null);
constraints.PushDataToSolver();
}
private void OnTriggerEnter(Collider other)
{
if (!other.CompareTag("Cable"))
{
return;
}
ObiCollider obicollider = other.GetComponent <ObiCollider>();
obiRope = other.transform.parent.GetComponentInChildren <ObiRope>();
ObiPinConstraints pinConstrain = other.transform.parent.GetComponentInChildren <ObiPinConstraints>();
pinConstraintBatch = pinConstrain.GetFirstBatch();
Debug.Log("Total Particle" + obiRope.TotalParticles);
Debug.Log("Used Particle" + obiRope.UsedParticles);
Debug.Log("Pooled Particle" + obiRope.PooledParticles);
foreach (var item in pinConstraintBatch.pinBodies)
{
Debug.Log(item.gameObject.name);
}
foreach (var item in pinConstraintBatch.pinIndices)
{
Debug.Log(item);
}
foreach (var item in pinConstraintBatch.GetConstraintsInvolvingParticle(particledex))
{
Debug.Log("Constrain of Last pariticle" + item);
}
pinConstrain.RemoveFromSolver(null);
UpdateIndex();
int CheckPoint = 0;
Debug.Log("CheckPoin" + CheckPoint++);
UpdateIndex();
NameOfParticleLast = pinConstraintBatch.pinBodies[LastParticleConstrainIndex].gameObject.name;
NameOfParticleFirst = pinConstraintBatch.pinBodies[FirstParticleConstrainIndex].gameObject.name;
if (other.name == NameOfParticleLast)
{
pinConstraintBatch.RemoveConstraint(LastParticleConstrainIndex);
pinConstraintBatch.AddConstraint(obiRope.UsedParticles - 1, GetComponent <ObiColliderBase>(),
transform.InverseTransformPoint(obiRope.GetParticlePosition(TestRope.UsedParticles - 1)), Quaternion.identity, 0);
UpdateIndex();
Debug.Log("CheckPoin" + CheckPoint++);
pinConstraintBatch.RemoveConstraint(SecondLastParticleConstrainIndex);
pinConstraintBatch.AddConstraint(obiRope.UsedParticles - 2, GetComponent <ObiColliderBase>(),
transform.InverseTransformPoint(obiRope.GetParticlePosition(TestRope.UsedParticles - 2)), Quaternion.identity, 0);
Debug.Log("CheckPoin" + CheckPoint++);
}
else if (other.name == NameOfParticleFirst)
{
pinConstraintBatch.RemoveConstraint(FirstParticleConstrainIndex);
pinConstraintBatch.AddConstraint(0, GetComponent <ObiColliderBase>(),
transform.InverseTransformPoint(obiRope.GetParticlePosition(0)), Quaternion.identity, 0);
Debug.Log("CheckPoin" + CheckPoint++);
UpdateIndex();
pinConstraintBatch.RemoveConstraint(SecondParticleConstrainIndex);
pinConstraintBatch.AddConstraint(1, GetComponent <ObiColliderBase>(),
transform.InverseTransformPoint(obiRope.GetParticlePosition(1)), Quaternion.identity, 0);
}
pinConstrain.AddToSolver(null);
}
