private void UpdateInertiaDamping(JoblifyDynamicBone joblifyDynamicBone)
{
for (int i = 0, count = joblifyDynamicBone.m_particles.Count; i < count; i++)
{
JoblifyDynamicBone.Particle particle = joblifyDynamicBone.m_particles[i];
if (particle.parentIndex < 0)
{
particle.prevPosition = particle.position;
particle.position = particle.trans.position;
}
else
{
//Inertia
Vector3 particleInertia = joblifyDynamicBone.m_objectInertia * joblifyDynamicBone.inertia;
particle.prevPosition += particleInertia;
particle.position += particleInertia;
//Verlet Integration & Damping
Vector3 velocity = particle.position - particle.prevPosition;
particle.prevPosition = particle.position;
particle.position += velocity * (1 - joblifyDynamicBone.damping);
}
}
}
public void Register(JoblifyDynamicBone joblifyDynamicBone)
{
if (m_joblifyDynamicBones.Contains(joblifyDynamicBone))
{
return;
}
m_joblifyDynamicBones.Add(joblifyDynamicBone);
}
private void UpdateDynamicBones()
{
for (int i = 0; i < m_joblifyDynamicBones.Count; i++)
{
JoblifyDynamicBone joblifyDynamicBone = m_joblifyDynamicBones[i];
UpdateObjectInertia(joblifyDynamicBone);
UpdateInertiaDamping(joblifyDynamicBone);
UpdateElasticityStiffness(joblifyDynamicBone);
UpdateTransforms(joblifyDynamicBone);
}
}
private void ResetTransforms()
{
for (int i = 0; i < m_joblifyDynamicBones.Count; i++)
{
JoblifyDynamicBone joblifyDynamicBone = m_joblifyDynamicBones[i];
for (int j = 0, count = joblifyDynamicBone.m_particles.Count; j < count; j++)
{
ResetTransform(joblifyDynamicBone.m_particles[j]);
}
}
}
private void UpdateTransforms(JoblifyDynamicBone joblifyDynamicBone)
{
for (int i = 1, count = joblifyDynamicBone.m_particles.Count; i < count; ++i)
{
JoblifyDynamicBone.Particle particle = joblifyDynamicBone.m_particles[i];
Transform particleTrans = particle.trans;
JoblifyDynamicBone.Particle parentParticle = joblifyDynamicBone.m_particles[particle.parentIndex];
Transform parentParticleTrans = parentParticle.trans;
Vector3 v = particleTrans.localPosition;
Quaternion rot = Quaternion.FromToRotation(parentParticleTrans.TransformDirection(v), particle.position - parentParticle.position);
parentParticleTrans.rotation = rot * parentParticleTrans.rotation;
particleTrans.position = particle.position;
}
}
private void UpdateElasticityStiffness(JoblifyDynamicBone joblifyDynamicBone)
{
for (int i = 0, count = joblifyDynamicBone.m_particles.Count; i < count; i++)
{
JoblifyDynamicBone.Particle particle = joblifyDynamicBone.m_particles[i];
if (particle.parentIndex < 0)
{
continue;
}
Transform particleTrans = particle.trans;
JoblifyDynamicBone.Particle parentParticle = joblifyDynamicBone.m_particles[particle.parentIndex];
Transform parentParticleTrans = parentParticle.trans;
//Elasticity
Matrix4x4 m0 = parentParticleTrans.localToWorldMatrix;
m0.SetColumn(3, parentParticle.position);
Vector3 targetPosition = m0.MultiplyPoint3x4(particleTrans.localPosition);
Vector3 delta = targetPosition - particle.position;
particle.position += delta * joblifyDynamicBone.elasticity;
//Stiffness
float deltaLength = delta.magnitude;
float length = (parentParticleTrans.position - particleTrans.position).magnitude;
float lengthMax = length * 2 * (1 - joblifyDynamicBone.stiffness);
if (deltaLength > lengthMax)
{
particle.position += delta * (deltaLength - lengthMax) / deltaLength;
}
//Length Constraint
delta = parentParticle.position - particle.position;
deltaLength = delta.magnitude;
particle.position += delta * (deltaLength - length) / deltaLength;
}
}
private void UpdateObjectInertia(JoblifyDynamicBone joblifyDynamicBone)
{
joblifyDynamicBone.m_objectInertia = joblifyDynamicBone.transform.position - joblifyDynamicBone.m_objectPrevPosition;
joblifyDynamicBone.m_objectPrevPosition = joblifyDynamicBone.transform.position;
}
public void Unregister(JoblifyDynamicBone joblifyDynamicBone)
{
m_joblifyDynamicBones.Remove(joblifyDynamicBone);
}
