// Emit will return a particle list, which will be rendered
public void updateParticles(float dt)
{
int currentEmission = 0;
currentTimeEmission += dt;
// add particle
// if current number of particle is lower than total we can add particles
// since we work on emissions per second, one second need to past after timeLastEmission
if (particleCount < totalParticles && currentTimeEmission > emissionRateSec)
{
while (currentEmission < emitsPerRate)
{
particles[particleCount] = new SandParticle(pos + new Vector3(Random.Range(-1.0f, 1.0f) * posVar.x, Random.Range(-1.0f, 1.0f) * posVar.y, Random.Range(-1.0f, 1.0f) * posVar.z),
20 * fromRotationToDirection(yaw + Random.Range(-1.0f, 1.0f) * yawVar, pitch + Random.Range(-1.0f, 1.0f) * pitchVar));
++currentEmission;
++particleCount;
}
currentTimeEmission = 0;
}
// update particles
for (int i = 0; i < particleCount; i++)
{
particles[i].updateParticle(dt, particles, particleCount);
}
}
public void updateParticle(float dt, SandParticle[] otherParticles, int aliveParticles) {
// Update forces
if (applyForce) {
Fl = forceHit;
applyForce = false;
} else {
Fl.Set(0, 0, 0);
}
// Integrate Velocities (Runge Kutta)
a = evaluate(position, linearMomentum, angMomentum, 0, new Derivative());
b = evaluate(position, linearMomentum, angMomentum, dt * 0.5f, a);
c = evaluate(position, linearMomentum, angMomentum, dt * 0.5f, b);
d = evaluate(position, linearMomentum, angMomentum, dt, c);
position = position + ((1.0f / 6.0f) * (a.dx + 2.0f * (b.dx + c.dx) + d.dx)) * dt;
rotation = addQuaToQua(rotation, multiplyQuaByScalar((angVelocityQua * rotation), 0.5f * dt));
// collision and stuff
collision(dt, otherParticles, aliveParticles);
// Momentum
linearMomentum = linearMomentum + ((1.0f / 6.0f) * (a.dm + 2.0f * (b.dm + c.dm) + d.dm)) * dt;
//if (linearMomentum.magnitude < 0.001)
//linearMomentum.Set(0, 0, 0);
angMomentum = angMomentum + ((1.0f / 6.0f) * (a.dam + 2.0f * (b.dam + c.dam) + d.dam)) * dt;
//if (angMomentum.magnitude < 0.001)
//angMomentum.Set(0, 0, 0);
// Velocity
linearVelocity = linearMomentum / mass;
angVelocity = Vector3.Scale(new Vector3(1.0f / inertiaTensor.x, 1.0f / inertiaTensor.y, 1.0f / inertiaTensor.z), angMomentum);
angVelocityQua = new Quaternion(angVelocity.x, angVelocity.y, angVelocity.z, 0);
// Natural Roll ?
naturalRoll = (Mathf.Abs(linearVelocity.magnitude - (radius * angVelocity.magnitude)) < 0.1);
}
// Emit will return a particle list, which will be rendered
public void updateParticles(float dt) {
int currentEmission = 0;
currentTimeEmission += dt;
// add particle
// if current number of particle is lower than total we can add particles
// since we work on emissions per second, one second need to past after timeLastEmission
if (particleCount < totalParticles && currentTimeEmission > emissionRateSec) {
while (currentEmission < emitsPerRate)
{
particles[particleCount] = new SandParticle(pos + new Vector3(Random.Range(-1.0f, 1.0f) * posVar.x, Random.Range(-1.0f, 1.0f) * posVar.y, Random.Range(-1.0f, 1.0f) * posVar.z),
20 * fromRotationToDirection(yaw + Random.Range(-1.0f, 1.0f) * yawVar, pitch + Random.Range(-1.0f, 1.0f) * pitchVar));
++currentEmission;
++particleCount;
}
currentTimeEmission = 0;
}
// update particles
for (int i = 0; i < particleCount; i++) {
particles[i].updateParticle(dt, particles, particleCount);
}
}
void collision(float dt, SandParticle[] otherParticles, int aliveParticles)
{
Vector3 pos;
float distance;
float kn = 0.1f;
float ys = 0.3f;
float u = 0.05f;
float ks = 20;
penaltyFl.Set(0, 0, 0);
penaltyFt.Set(0, 0, 0);
//floorCollision = (transform.position.y <= 0.5);
if (transform.position.y <= radius)
{
distance = Vector3.Distance(new Vector3(transform.position.x, 0, transform.position.z), transform.position);
Vector3 N = Vector3.Normalize(new Vector3(transform.position.x, 0, transform.position.z) - transform.position);
Vector3 relativeVelocity = linearVelocity;
float e = radius - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(60 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
for (int i = 0; i < aliveParticles; ++i)
{
pos = otherParticles[i].position;
distance = Vector3.Distance(pos, transform.position);
if (distance <= radius + 0.5f)
{
Vector3 N = Vector3.Normalize(pos - transform.position);
Vector3 relativeVelocity = linearVelocity - otherParticles[i].linearVelocity;
float e = (radius + 0.5f) - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(kn * Mathf.Pow(e, 3 / 2) + ys * ep * Mathf.Pow(e, 1 / 2)) * N;
Vector3 Ft = -Mathf.Min(u * Fn.magnitude, ks * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
}
}
void collision(float dt, SandParticle[] otherParticles, int aliveParticles) {
Vector3 pos;
float distance;
float kn = 60;
float ys = 3;
float u = 0.05f;
float ks = 20;
penaltyFl.Set(0, 0, 0);
penaltyFt.Set(0, 0, 0);
//floorCollision = (transform.position.y <= 0.5);
if (position.y <= radius)
{
distance = Vector3.Distance(new Vector3(position.x, 0, position.z), position);
Vector3 N = Vector3.Normalize(new Vector3(position.x, 0, position.z) - position);
Vector3 relativeVelocity = linearVelocity;
float e = 0.5f - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(40 * Mathf.Pow(e, 3 / 2) + 10 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
// walls
pos = GameObject.Find("Wall1").transform.position;
distance = Vector3.Distance(new Vector3(pos.x, position.y, position.z), position);
if (distance <= 1)
{
Vector3 N = Vector3.Normalize(new Vector3(pos.x, position.y, position.z) - position);
Vector3 relativeVelocity = linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
pos = GameObject.Find("Wall2").transform.position;
distance = Vector3.Distance(new Vector3(pos.x, position.y, position.z), position);
if (distance <= 1)
{
Vector3 N = Vector3.Normalize(new Vector3(pos.x, position.y, position.z) - position);
Vector3 relativeVelocity = linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
pos = GameObject.Find("Wall3").transform.position;
distance = Vector3.Distance(new Vector3(position.x, position.y, pos.z), position);
if (distance <= 1)
{
Vector3 N = Vector3.Normalize(new Vector3(position.x, position.y, pos.z) - position);
Vector3 relativeVelocity = linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
pos = GameObject.Find("Wall4").transform.position;
distance = Vector3.Distance(new Vector3(position.x, position.y, pos.z), position);
if (distance <= 1)
{
Vector3 N = Vector3.Normalize(new Vector3(position.x, position.y, pos.z) - position);
Vector3 relativeVelocity = linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
penaltyFl += Fn;
}
//obj collisions
pos = GameObject.Find("Obj1").transform.position;
distance = Vector3.Distance(pos, position);
if (distance <= 8) {
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity;
float e = 8 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 30 * ep * Mathf.Pow(e, 1 / 2)) * N;
Fn += 0.7f * Vector3.Normalize(linearVelocity);//Add some value to affect the friction
Vector3 Ft = -Mathf.Min(0.5f * Fn.magnitude, 100 * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
pos = GameObject.Find("Obj2").transform.position;
distance = Vector3.Distance(pos, position);
if (distance <= 5.5f)
{
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity;
float e = 5.5f - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 30 * ep * Mathf.Pow(e, 1 / 2)) * N;
Fn += 0.7f * Vector3.Normalize(linearVelocity);//Add some value to affect the friction
Vector3 Ft = -Mathf.Min(0.5f * Fn.magnitude, 100 * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
pos = GameObject.Find("Obj3").transform.position;
distance = Vector3.Distance(pos, position);
if (distance <= 4.5f)
{
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity;
float e = 4.5f - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(50 * Mathf.Pow(e, 3 / 2) + 30 * ep * Mathf.Pow(e, 1 / 2)) * N;
Fn += 0.7f * Vector3.Normalize(linearVelocity);//Add some value to affect the friction
Vector3 Ft = -Mathf.Min(0.5f * Fn.magnitude, 100 * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
// Sphere
pos = GameObject.Find("Sphere").transform.position;
distance = Vector3.Distance(pos, position);
if (distance <= radius + 5 )
{
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity - GameObject.Find("Sphere").GetComponent<MetalSphere>().linearVelocity;
float e = (radius + 5) - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(60 * Mathf.Pow(e, 3 / 2) + 60 * ep * Mathf.Pow(e, 1 / 2)) * N;
Vector3 Ft = -Mathf.Min(u * Fn.magnitude, ks * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
// sphere objs
for (int i = 1; i < 81; ++i)
{
pos = GameObject.Find("Sphere (" + i + ")").transform.position;
distance = Vector3.Distance(pos, position);
if (distance <= 2 * radius && distance != 0)
{
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(60 * Mathf.Pow(e, 3 / 2) + 40 * ep * Mathf.Pow(e, 1 / 2)) * N;
Vector3 Ft = -Mathf.Min(u * Fn.magnitude, ks * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
}
for (int i = 0; i < aliveParticles; ++i)
{
pos = otherParticles[i].position;
distance = Vector3.Distance(pos, position);
if (distance <= 2*radius && distance != 0)
{
Vector3 N = Vector3.Normalize(pos - position);
Vector3 relativeVelocity = linearVelocity - otherParticles[i].linearVelocity;
float e = 1 - distance;
float ep = Vector3.Dot(relativeVelocity, N);
Vector3 tangentialVelocity = relativeVelocity - ep * N;
Vector3 Fn = -(kn * Mathf.Pow(e, 3 / 2) + ys * ep * Mathf.Pow(e, 1 / 2)) * N;
Vector3 Ft = -Mathf.Min(u * Fn.magnitude, ks * tangentialVelocity.magnitude) * Vector3.Cross(N / 2, tangentialVelocity).normalized;
penaltyFl += Fn; //-(kn * Mathf.Pow(e, 3 / 2) - ys * penetrationRate1 * Mathf.Pow(e, 1 / 2)) * N;
penaltyFt += Ft; // 0.3f * Vector3.Cross(new Vector3(0, -0.5f, 0), N / 2);
}
}
}
