/**
* Generates the particle based physical representation of the bone hierarcht. This is the initialization method for the actor
* and should not be called directly once the object has been created.
*/
protected override IEnumerator Initialize()
{
initialized = false;
initializing = true;
RemoveFromSolver(null);
// get a list of bones in preorder:
bones = new List <Transform>();
foreach (Transform bone in EnumerateBonesBreadthFirst())
{
bones.Add(bone);
}
parentIndices = new int[bones.Count];
active = new bool[bones.Count];
positions = new Vector3[bones.Count];
velocities = new Vector3[bones.Count];
invMasses = new float[bones.Count];
principalRadii = new Vector3[bones.Count];
phases = new int[bones.Count];
restPositions = new Vector4[bones.Count];
restOrientations = new Quaternion[bones.Count];
frozen = new bool[bones.Count];
DistanceConstraints.Clear();
ObiDistanceConstraintBatch distanceBatch = new ObiDistanceConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
DistanceConstraints.AddBatch(distanceBatch);
BendingConstraints.Clear();
ObiBendConstraintBatch bendingBatch = new ObiBendConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
BendingConstraints.AddBatch(bendingBatch);
SkinConstraints.Clear();
ObiSkinConstraintBatch skinBatch = new ObiSkinConstraintBatch(true, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
SkinConstraints.AddBatch(skinBatch);
for (int i = 0; i < bones.Count; ++i)
{
active[i] = true;
invMasses[i] = 1.0f / DEFAULT_PARTICLE_MASS;
positions[i] = transform.InverseTransformPoint(bones[i].position);
restPositions[i] = positions[i];
restPositions[i][3] = 1;
restOrientations[i] = Quaternion.identity;
principalRadii[i] = new Vector3(particleRadius, particleRadius, particleRadius);
frozen[i] = false;
phases[i] = Oni.MakePhase(1, selfCollisions?Oni.ParticlePhase.SelfCollide:0);
parentIndices[i] = -1;
if (bones[i].parent != null)
{
parentIndices[i] = bones.IndexOf(bones[i].parent);
}
skinBatch.AddConstraint(i, positions[i], Vector3.up, 0.05f, 0, 0, 1);
foreach (Transform child in bones[i])
{
int childIndex = bones.IndexOf(child);
if (childIndex >= 0)
{
// add distance constraint between the bone and its child.
distanceBatch.AddConstraint(i, childIndex, Vector3.Distance(bones[i].position, child.position), 1, 1);
if (parentIndices[i] >= 0)
{
Transform parent = bones[parentIndices[i]];
float[] bendRestPositions = new float[] { parent.position[0], parent.position[1], parent.position[2],
child.position[0], child.position[1], child.position[2],
bones[i].position[0], bones[i].position[1], bones[i].position[2] };
float restBend = Oni.BendingConstraintRest(bendRestPositions);
// add bend constraint between the bone, its parent and its child.
bendingBatch.AddConstraint(parentIndices[i], childIndex, i, restBend, 0, 0);
}
}
}
if (i % 10 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiBone: generating particles...", i / (float)bones.Count));
}
}
skinBatch.Cook();
initializing = false;
initialized = true;
}
/**
* Generates the particle based physical representation of the cloth mesh. This is the initialization method for the cloth object
* and should not be called directly once the object has been created.
*/
protected override IEnumerator Initialize()
{
initialized = false;
initializing = false;
if (sharedTopology == null)
{
Debug.LogError("No ObiMeshTopology provided. Cannot initialize physical representation.");
yield break;
}
else if (!sharedTopology.Initialized)
{
Debug.LogError("The provided ObiMeshTopology contains no data. Cannot initialize physical representation.");
yield break;
}
initializing = true;
RemoveFromSolver(null);
GameObject.DestroyImmediate(topology);
topology = GameObject.Instantiate(sharedTopology);
active = new bool[topology.heVertices.Length];
positions = new Vector3[topology.heVertices.Length];
restPositions = new Vector4[topology.heVertices.Length];
velocities = new Vector3[topology.heVertices.Length];
invMasses = new float[topology.heVertices.Length];
principalRadii = new Vector3[topology.heVertices.Length];
phases = new int[topology.heVertices.Length];
areaContribution = new float[topology.heVertices.Length];
deformableTriangles = new int[topology.heFaces.Length * 3];
initialScaleMatrix.SetTRS(Vector3.zero, Quaternion.identity, transform.lossyScale);
// Create a particle for each vertex:
for (int i = 0; i < topology.heVertices.Length; i++)
{
Oni.Vertex vertex = topology.heVertices[i];
// Get the particle's area contribution.
areaContribution[i] = 0;
foreach (Oni.Face face in topology.GetNeighbourFacesEnumerator(vertex))
{
areaContribution[i] += topology.GetFaceArea(face) / 3;
}
// Get the shortest neighbour edge, particle radius will be half of its length.
float minEdgeLength = Single.MaxValue;
foreach (Oni.HalfEdge edge in topology.GetNeighbourEdgesEnumerator(vertex))
{
// vertices at each end of the edge:
Vector3 v1 = initialScaleMatrix * topology.heVertices[topology.GetHalfEdgeStartVertex(edge)].position;
Vector3 v2 = initialScaleMatrix * topology.heVertices[edge.endVertex].position;
minEdgeLength = Mathf.Min(minEdgeLength, Vector3.Distance(v1, v2));
}
active[i] = true;
invMasses[i] = (skinnedMeshRenderer == null && areaContribution[i] > 0) ? (1.0f / (DEFAULT_PARTICLE_MASS * areaContribution[i])) : 0;
positions[i] = initialScaleMatrix * vertex.position;
restPositions[i] = positions[i];
restPositions[i][3] = 1; // activate rest position.
principalRadii[i] = Vector3.one * minEdgeLength * 0.5f;
phases[i] = Oni.MakePhase(1, selfCollisions?Oni.ParticlePhase.SelfCollide:0);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating particles...", i / (float)topology.heVertices.Length));
}
}
// Generate deformable triangles:
for (int i = 0; i < topology.heFaces.Length; i++)
{
Oni.Face face = topology.heFaces[i];
Oni.HalfEdge e1 = topology.heHalfEdges[face.halfEdge];
Oni.HalfEdge e2 = topology.heHalfEdges[e1.nextHalfEdge];
Oni.HalfEdge e3 = topology.heHalfEdges[e2.nextHalfEdge];
deformableTriangles[i * 3] = e1.endVertex;
deformableTriangles[i * 3 + 1] = e2.endVertex;
deformableTriangles[i * 3 + 2] = e3.endVertex;
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating deformable geometry...", i / (float)topology.heFaces.Length));
}
}
List <ObiMeshTopology.HEEdge> edges = topology.GetEdgeList();
DistanceConstraints.Clear();
ObiDistanceConstraintBatch distanceBatch = new ObiDistanceConstraintBatch(true, false);
DistanceConstraints.AddBatch(distanceBatch);
// Create distance springs:
for (int i = 0; i < edges.Count; i++)
{
Oni.HalfEdge hedge = topology.heHalfEdges[edges[i].halfEdgeIndex];
Oni.Vertex startVertex = topology.heVertices[topology.GetHalfEdgeStartVertex(hedge)];
Oni.Vertex endVertex = topology.heVertices[hedge.endVertex];
distanceBatch.AddConstraint(topology.GetHalfEdgeStartVertex(hedge), hedge.endVertex, Vector3.Distance(initialScaleMatrix * startVertex.position, initialScaleMatrix * endVertex.position), 1, 1);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating structural constraints...", i / (float)topology.heHalfEdges.Length));
}
}
// Cook distance constraints, for better cache and SIMD use:
distanceBatch.Cook();
// Create aerodynamic constraints:
AerodynamicConstraints.Clear();
ObiAerodynamicConstraintBatch aeroBatch = new ObiAerodynamicConstraintBatch(false, false);
AerodynamicConstraints.AddBatch(aeroBatch);
for (int i = 0; i < topology.heVertices.Length; i++)
{
aeroBatch.AddConstraint(i,
areaContribution[i],
AerodynamicConstraints.dragCoefficient,
AerodynamicConstraints.liftCoefficient);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating aerodynamic constraints...", i / (float)topology.heFaces.Length));
}
}
//Create skin constraints (if needed)
if (skinnedMeshRenderer != null)
{
SkinConstraints.Clear();
ObiSkinConstraintBatch skinBatch = new ObiSkinConstraintBatch(true, false);
SkinConstraints.AddBatch(skinBatch);
for (int i = 0; i < topology.heVertices.Length; ++i)
{
skinBatch.AddConstraint(i, initialScaleMatrix * topology.heVertices[i].position, Vector3.up, 0.05f, 0.1f, 0, 1);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating skin constraints...", i / (float)topology.heVertices.Length));
}
}
for (int i = 0; i < topology.normals.Length; ++i)
{
skinBatch.skinNormals[topology.visualMap[i]] = topology.normals[i];
}
skinBatch.Cook();
}
//Create pressure constraints if the mesh is closed:
VolumeConstraints.Clear();
if (topology.IsClosed)
{
ObiVolumeConstraintBatch volumeBatch = new ObiVolumeConstraintBatch(false, false);
VolumeConstraints.AddBatch(volumeBatch);
float avgInitialScale = (initialScaleMatrix.m00 + initialScaleMatrix.m11 + initialScaleMatrix.m22) * 0.33f;
int[] triangleIndices = new int[topology.heFaces.Length * 3];
for (int i = 0; i < topology.heFaces.Length; i++)
{
Oni.Face face = topology.heFaces[i];
Oni.HalfEdge e1 = topology.heHalfEdges[face.halfEdge];
Oni.HalfEdge e2 = topology.heHalfEdges[e1.nextHalfEdge];
Oni.HalfEdge e3 = topology.heHalfEdges[e2.nextHalfEdge];
triangleIndices[i * 3] = e1.endVertex;
triangleIndices[i * 3 + 1] = e2.endVertex;
triangleIndices[i * 3 + 2] = e3.endVertex;
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating volume constraints...", i / (float)topology.heFaces.Length));
}
}
volumeBatch.AddConstraint(triangleIndices, topology.MeshVolume * avgInitialScale, 1, 1);
}
//Create bending constraints:
BendingConstraints.Clear();
ObiBendConstraintBatch bendBatch = new ObiBendConstraintBatch(true, false);
BendingConstraints.AddBatch(bendBatch);
Dictionary <int, int> cons = new Dictionary <int, int>();
for (int i = 0; i < topology.heVertices.Length; i++)
{
Oni.Vertex vertex = topology.heVertices[i];
foreach (Oni.Vertex n1 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cosBest = 0;
Oni.Vertex vBest = n1;
foreach (Oni.Vertex n2 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cos = Vector3.Dot((n1.position - vertex.position).normalized,
(n2.position - vertex.position).normalized);
if (cos < cosBest)
{
cosBest = cos;
vBest = n2;
}
}
if (!cons.ContainsKey(vBest.index) || cons[vBest.index] != n1.index)
{
cons[n1.index] = vBest.index;
Vector3 n1Pos = initialScaleMatrix * n1.position;
Vector3 bestPos = initialScaleMatrix * vBest.position;
Vector3 vertexPos = initialScaleMatrix * vertex.position;
float[] bendRestPositions = new float[] { n1Pos[0], n1Pos[1], n1Pos[2],
bestPos[0], bestPos[1], bestPos[2],
vertexPos[0], vertexPos[1], vertexPos[2] };
float restBend = Oni.BendingConstraintRest(bendRestPositions);
bendBatch.AddConstraint(n1.index, vBest.index, vertex.index, restBend, 0, 1);
}
}
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: adding bend constraints...", i / (float)sharedTopology.heVertices.Length));
}
}
bendBatch.Cook();
// Initialize tether constraints:
TetherConstraints.Clear();
// Initialize pin constraints:
PinConstraints.Clear();
ObiPinConstraintBatch pinBatch = new ObiPinConstraintBatch(false, false);
PinConstraints.AddBatch(pinBatch);
initializing = false;
initialized = true;
if (skinnedMeshRenderer == null)
{
InitializeWithRegularMesh();
}
else
{
InitializeWithSkinnedMesh();
}
}
/**
* Generates the particle based physical representation of the cloth mesh. This is the initialization method for the cloth object
* and should not be called directly once the object has been created.
*/
public override IEnumerator GeneratePhysicRepresentationForMesh()
{
initialized = false;
initializing = false;
if (sharedTopology == null)
{
Debug.LogError("No ObiMeshTopology provided. Cannot initialize physical representation.");
yield break;
}
else if (!sharedTopology.Initialized)
{
Debug.LogError("The provided ObiMeshTopology contains no data. Cannot initialize physical representation.");
yield break;
}
initializing = true;
RemoveFromSolver(null);
ResetTopology();
maxVertexValency = 0;
pooledParticles = (int)((topology.heFaces.Length * 3 - topology.heVertices.Length) * tearCapacity);
usedParticles = topology.heVertices.Length;
int totalParticles = usedParticles + pooledParticles;
active = new bool[totalParticles];
positions = new Vector3[totalParticles];
restPositions = new Vector4[totalParticles];
velocities = new Vector3[totalParticles];
vorticities = new Vector3[totalParticles];
invMasses = new float[totalParticles];
solidRadii = new float[totalParticles];
phases = new int[totalParticles];
areaContribution = new float[totalParticles];
tearResistance = new float[totalParticles];
deformableTriangles = new int[topology.heFaces.Length * 3];
// Create a particle for each vertex, and gather per-vertex data (area, valency)
for (int i = 0; i < topology.heVertices.Length; i++)
{
Oni.Vertex vertex = topology.heVertices[i];
// Get the particle's area contribution.
areaContribution[i] = 0;
foreach (Oni.Face face in topology.GetNeighbourFacesEnumerator(vertex))
{
areaContribution[i] += topology.GetFaceArea(face) / 3;
}
// Calculate particle's valency:
int valency = 0;
foreach (Oni.HalfEdge edge in topology.GetNeighbourEdgesEnumerator(vertex))
{
valency++;
}
maxVertexValency = Mathf.Max(maxVertexValency, valency);
// Get the shortest neighbour edge, particle radius will be half of its length.
float minEdgeLength = Single.MaxValue;
foreach (Oni.HalfEdge edge in topology.GetNeighbourEdgesEnumerator(vertex))
{
minEdgeLength = Mathf.Min(minEdgeLength, Vector3.Distance(topology.heVertices[topology.GetHalfEdgeStartVertex(edge)].position,
topology.heVertices[edge.endVertex].position));
}
active[i] = true;
tearResistance[i] = 1;
invMasses[i] = (areaContribution[i] > 0) ? (1.0f / (0.05f * areaContribution[i])) : 0;
positions[i] = vertex.position;
restPositions[i] = positions[i];
restPositions[i][3] = 0; // activate rest position.
solidRadii[i] = minEdgeLength * 0.5f;
phases[i] = Oni.MakePhase(gameObject.layer, selfCollisions?Oni.ParticlePhase.SelfCollide:0);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating particles...", i / (float)topology.heVertices.Length));
}
}
// Initialize basic data for pooled particles:
for (int i = topology.heVertices.Length; i < pooledParticles; i++)
{
active[i] = false;
tearResistance[i] = 1;
invMasses[i] = 1.0f / 0.05f;
solidRadii[i] = 0.1f;
phases[i] = Oni.MakePhase(gameObject.layer, selfCollisions?Oni.ParticlePhase.SelfCollide:0);
if (i % 100 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRope: generating pooled particles...", i / (float)pooledParticles));
}
}
// Generate deformable triangles:
for (int i = 0; i < topology.heFaces.Length; i++)
{
Oni.Face face = topology.heFaces[i];
Oni.HalfEdge e1 = topology.heHalfEdges[face.halfEdge];
Oni.HalfEdge e2 = topology.heHalfEdges[e1.nextHalfEdge];
Oni.HalfEdge e3 = topology.heHalfEdges[e2.nextHalfEdge];
deformableTriangles[i * 3] = e1.endVertex;
deformableTriangles[i * 3 + 1] = e2.endVertex;
deformableTriangles[i * 3 + 2] = e3.endVertex;
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating deformable geometry...", i / (float)topology.heFaces.Length));
}
}
List <ObiMeshTopology.HEEdge> edges = topology.GetEdgeList();
DistanceConstraints.Clear();
ObiDistanceConstraintBatch distanceBatch = new ObiDistanceConstraintBatch(false, false);
DistanceConstraints.AddBatch(distanceBatch);
// Initialize constraint-halfedge map for cloth tearing purposes: TODO: reset on awake!!!
distanceConstraintMap = new int[topology.heHalfEdges.Length];
for (int i = 0; i < distanceConstraintMap.Length; i++)
{
distanceConstraintMap[i] = -1;
}
// Create distance springs:
for (int i = 0; i < edges.Count; i++)
{
distanceConstraintMap[edges[i].halfEdgeIndex] = i;
Oni.HalfEdge hedge = topology.heHalfEdges[edges[i].halfEdgeIndex];
Oni.Vertex startVertex = topology.heVertices[topology.GetHalfEdgeStartVertex(hedge)];
Oni.Vertex endVertex = topology.heVertices[hedge.endVertex];
distanceBatch.AddConstraint(topology.GetHalfEdgeStartVertex(hedge), hedge.endVertex, Vector3.Distance(startVertex.position, endVertex.position), 1, 1);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating structural constraints...", i / (float)topology.heHalfEdges.Length));
}
}
// Create aerodynamic constraints:
AerodynamicConstraints.Clear();
ObiAerodynamicConstraintBatch aeroBatch = new ObiAerodynamicConstraintBatch(false, false);
AerodynamicConstraints.AddBatch(aeroBatch);
for (int i = 0; i < topology.heVertices.Length; i++)
{
aeroBatch.AddConstraint(i,
areaContribution[i],
AerodynamicConstraints.dragCoefficient,
AerodynamicConstraints.liftCoefficient);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: generating aerodynamic constraints...", i / (float)topology.heFaces.Length));
}
}
BendingConstraints.Clear();
ObiBendConstraintBatch bendBatch = new ObiBendConstraintBatch(false, false);
BendingConstraints.AddBatch(bendBatch);
bendConstraintOffsets = new int[topology.heVertices.Length + 1];
Dictionary <int, int> cons = new Dictionary <int, int>();
for (int i = 0; i < topology.heVertices.Length; i++)
{
Oni.Vertex vertex = topology.heVertices[i];
bendConstraintOffsets[i] = bendBatch.ConstraintCount;
foreach (Oni.Vertex n1 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cosBest = 0;
Oni.Vertex vBest = n1;
foreach (Oni.Vertex n2 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cos = Vector3.Dot((n1.position - vertex.position).normalized,
(n2.position - vertex.position).normalized);
if (cos < cosBest)
{
cosBest = cos;
vBest = n2;
}
}
if (!cons.ContainsKey(vBest.index) || cons[vBest.index] != n1.index)
{
cons[n1.index] = vBest.index;
float[] restPos = new float[] { n1.position[0], n1.position[1], n1.position[2],
vBest.position[0], vBest.position[1], vBest.position[2],
vertex.position[0], vertex.position[1], vertex.position[2] };
float restBend = Oni.BendingConstraintRest(restPos);
bendBatch.AddConstraint(n1.index, vBest.index, vertex.index, restBend, 0, 1);
}
}
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: adding bend constraints...", i / (float)sharedTopology.heVertices.Length));
}
}
bendConstraintOffsets[topology.heVertices.Length] = bendBatch.ConstraintCount;
//Initialize pin constraints:
PinConstraints.Clear();
ObiPinConstraintBatch pinBatch = new ObiPinConstraintBatch(false, false);
PinConstraints.AddBatch(pinBatch);
AddToSolver(null);
initializing = false;
initialized = true;
InitializeWithRegularMesh();
pooledVertices = (int)((topology.heFaces.Length * 3 - sharedMesh.vertexCount) * tearCapacity);
}
protected virtual IEnumerator CreateBendingConstraints()
{
bendConstraintsData = new ObiBendConstraintsData();
List <int> particleIndices = new List <int>();
List <int> constraintIndices = new List <int>();
Dictionary <int, int> cons = new Dictionary <int, int>();
for (int i = 0; i < topology.vertices.Count; i++)
{
HalfEdgeMesh.Vertex vertex = topology.vertices[i];
foreach (HalfEdgeMesh.Vertex n1 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cosBest = 0;
HalfEdgeMesh.Vertex vBest = n1;
foreach (HalfEdgeMesh.Vertex n2 in topology.GetNeighbourVerticesEnumerator(vertex))
{
float cos = Vector3.Dot((n1.position - vertex.position).normalized,
(n2.position - vertex.position).normalized);
if (cos < cosBest)
{
cosBest = cos;
vBest = n2;
}
}
if (!cons.ContainsKey(vBest.index) || cons[vBest.index] != n1.index)
{
cons[n1.index] = vBest.index;
particleIndices.Add(n1.index);
particleIndices.Add(vBest.index);
particleIndices.Add(vertex.index);
constraintIndices.Add(constraintIndices.Count * 3);
}
}
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiCloth: adding bend constraints...", i / (float)topology.vertices.Count));
}
}
constraintIndices.Add(constraintIndices.Count * 3);
int[] constraintColors = GraphColoring.Colorize(particleIndices.ToArray(), constraintIndices.ToArray());
for (int i = 0; i < constraintColors.Length; ++i)
{
int color = constraintColors[i];
int cIndex = constraintIndices[i];
// Add a new batch if needed:
if (color >= bendConstraintsData.GetBatchCount())
{
bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
}
HalfEdgeMesh.Vertex n1 = topology.vertices[particleIndices[cIndex]];
HalfEdgeMesh.Vertex vBest = topology.vertices[particleIndices[cIndex + 1]];
HalfEdgeMesh.Vertex vertex = topology.vertices[particleIndices[cIndex + 2]];
Vector3 n1Pos = Vector3.Scale(scale, n1.position);
Vector3 bestPos = Vector3.Scale(scale, vBest.position);
Vector3 vertexPos = Vector3.Scale(scale, vertex.position);
float[] bendRestPositions = new float[] { n1Pos[0], n1Pos[1], n1Pos[2],
bestPos[0], bestPos[1], bestPos[2],
vertexPos[0], vertexPos[1], vertexPos[2] };
float restBend = Oni.BendingConstraintRest(bendRestPositions);
bendConstraintsData.batches[color].AddConstraint(new Vector3Int(particleIndices[cIndex], particleIndices[cIndex + 1], particleIndices[cIndex + 2]), restBend);
}
// Set initial amount of active constraints:
for (int i = 0; i < bendConstraintsData.batches.Count; ++i)
{
bendConstraintsData.batches[i].activeConstraintCount = bendConstraintsData.batches[i].constraintCount;
}
}