/// <summary>
/// 动态添加鼠标的MehcanicalObject组件至root节点，生成其信息。添加StiffSpringForceField组件，连接目标物体和鼠标MechanicalObject
/// </summary>
private unsafe void MouseDragAdd()
{
if (!SofaPhysics.unityMechanicalObjectInfoDic.ContainsKey(mechanicalObjectName) && !SofaPhysics.sofaMechanicalObjectInfoDic.ContainsKey(mechanicalObjectName))
{
//加入mechanicalObject组件及相关info
double[] dou = new double[3] {
draggingMousePosition.x, draggingMousePosition.y, draggingMousePosition.z
};
SofaPhysicsAPI.AddMechanicalObjectArray(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(mechanicalObjectName), dou, 1);
for (int i = 0; i < SofaPhysics.nodes.Length; i++)
{
if (SofaPhysics.nodes[i].gameObject.name == "root")
{
UnityMechanicalObjectInfo unityMechanicalObjectInfo = new UnityMechanicalObjectInfo(SofaPhysics.nodes[i], mechanicalObjectName);
SofaPhysics.unityMechanicalObjectInfoDic.Add(unityMechanicalObjectInfo.componentName, unityMechanicalObjectInfo);
}
}
foreach (string componentName in SofaPhysics.unityMechanicalObjectInfoDic.Keys)
{
if (mechanicalObjectName == componentName)
{
SofaMechanicalObjectInfo sofaMechanicalObjectInfo = new SofaMechanicalObjectInfo(componentName);
SofaPhysics.sofaMechanicalObjectInfoDic.Add(sofaMechanicalObjectInfo.componentName, sofaMechanicalObjectInfo);
}
}
//加入stiffSpringForceField组件及其Spring
SofaPhysicsAPI.AddStiffSpringForceField(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(stiffSpringForceFieldName), SofaPhysics.ToChar("@./"), SofaPhysics.ToChar(GetSrcPathToRoot()), dragSpringKs, 0.1, 1);
SofaPhysicsAPI.SpringAddToStiffSpringForceField(SofaPhysics.ToChar(stiffSpringForceFieldName), 0, draggingMechanicalObjectPointIndex, dragSpringKs, dragSpringKd, 0);
}
}
private unsafe void remove()
{
Debug.Log(index);
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (Physics.Raycast(ray, out raycastHit))
{
switch (raycastHit.transform.gameObject.name)
{
case "TriangleTopologyVisual":
break;
case "QuadTopologyVisual":
break;
case "TetrahedraTopologyVisual":
Debug.Log("triangle index:" + raycastHit.triangleIndex);
int tetrahedraIndex = Mathf.FloorToInt(raycastHit.triangleIndex / 4);
Debug.Log("remove:" + tetrahedraIndex);
SofaPhysicsAPI.RemoveTetrahedra(SofaPhysics.ToChar("TetraModifier"), tetrahedraIndex);
break;
default:
break;
}
}
}
/// <summary>
/// 控制模拟开启
/// </summary>
private void SofaSimulationStart()
{
SofaPhysicsAPI.StartSimulation();
SofaPhysicsAPI.SetAnimate(false);
SofaPhysicsAPI.ResetScene();
SofaPhysicsAPI.StepVisual();
SofaPhysicsAPI.SetAnimate(true);
}
/// <summary>
/// 初始化SofaMesh信息
/// </summary>
private void SofaMeshInfoInit()
{
for (int i = 0; i < SofaPhysicsAPI.GetMeshAmount(); i++)
{
SofaMeshInfo sofaMeshInfo = new SofaMeshInfo(i);
sofaMeshInfoDic.Add(sofaMeshInfo.componentName, sofaMeshInfo);
}
}
/// <summary>
/// 清除鼠标MechanicalObject、StiffSpringForceField组件及其字典中储存的信息，将临时变量归零
/// </summary>
private unsafe void MouseDragRemove()
{
//移除StiffSpringForceFiled组件
SofaPhysicsAPI.RemoveStiffSpringForceField(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(stiffSpringForceFieldName));
//移除MechanicalObject组件及字典中储存的信息
SofaPhysicsAPI.RemoveMechanicalObject(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(mechanicalObjectName));
SofaPhysics.unityMechanicalObjectInfoDic.Remove(mechanicalObjectName);
SofaPhysics.sofaMechanicalObjectInfoDic.Remove(mechanicalObjectName);
}
public void Update()
{
componentName = SofaPhysics.ToStr(SofaPhysicsAPI.GetMeshName(meshIndex));
verticesAmount = SofaPhysicsAPI.GetMeshVerticesAmount(meshIndex);
verticesPosition = SofaPhysicsAPI.GetMeshVerticesPositions(meshIndex);
triangleAmount = SofaPhysicsAPI.GetMeshTriangleAmount(meshIndex);
triangleTopology = SofaPhysicsAPI.GetMeshTriangleTopology(meshIndex);
quadAmount = SofaPhysicsAPI.GetMeshQuadAmount(meshIndex);
quadTopology = SofaPhysicsAPI.GetMeshQuadTopology(meshIndex);
}
private void Awake()
{
//注册DebugInUnity回调函数
SofaPhysicsAPI.RegisterDebugCallBack();
//注册Unity信息类、Sofa信息类字典
VisualInfoDictionaryInit();
//Sofa模拟初始化
SofaSimulationInit();
//遍历root下的所有节点和组件，并初始化Unity信息类
SofaErgodicNodes();
}
public void Update()
{
verticesAmount = SofaPhysicsAPI.GetMechanicalObjectVerticesAmount(SofaPhysics.ToChar(componentName));
verticesPosition = SofaPhysicsAPI.GetMechanicalObjectVerticesPositions(SofaPhysics.ToChar(componentName));
triangleAmount = SofaPhysicsAPI.GetMechanicalObjectTriangleAmount(SofaPhysics.ToChar(componentName));
triangleTopology = SofaPhysicsAPI.GetMechanicalObjectTriangleTopology(SofaPhysics.ToChar(componentName));
quadAmount = SofaPhysicsAPI.GetMechanicalObjectQuadAmount(SofaPhysics.ToChar(componentName));
quadTopology = SofaPhysicsAPI.GetMechanicalObjectQuadTopology(SofaPhysics.ToChar(componentName));
tetrahedraAmount = SofaPhysicsAPI.GetMechanicalObjectTetrahedraAmount(SofaPhysics.ToChar(componentName));
tetrahedraTopology = SofaPhysicsAPI.GetMechanicalObjectTetrahedraTopology(SofaPhysics.ToChar(componentName));
}
/// <summary>
/// Sofa模拟初始化，包括开启模拟、创建根节点、添加节点、组件、控制模拟进行等
/// </summary>
private unsafe void SofaSimulationInit()
{
//初始化Sofa、开启模拟、创建根节点
SofaPhysicsAPI.HelloSofa();
SofaPhysicsAPI.Instance();
SofaPhysicsAPI.InitSimulation();
SofaPhysicsAPI.CreateRoot(ToChar("root"));
//初始化鼠标拖拽功能(需要在Sofa模拟开启后进行)，第二次初始化时unity崩溃，需要修改CleanUp方法，释放所有动态生成的节点和组件
//SofaPhysicsAPI.MouseDragInitial();
//isMouseDragInitialed = true;
}
/// <summary>
/// 更改鼠标MehcanicalObject信息
/// </summary>
private unsafe void MouseMechanicalObjectInfoChange()
{
SofaPhysicsAPI.ChangeMechanicalObjectPosition(SofaPhysics.ToChar(mechanicalObjectName), 0, draggingMousePosition.x, draggingMousePosition.y, draggingMousePosition.z);
}
private unsafe void remove1()
{
Debug.Log(index);
SofaPhysicsAPI.RemoveTetrahedra(SofaPhysics.ToChar("TetraModifier"), index);
}
/// <summary>
/// 停止时对sofa模拟进行cleanup
/// </summary>
private void OnDisable()
{
//isSofaWorking = false;
SofaPhysicsAPI.CleanUp();
}
/// <summary>
/// 停止时对sofa模拟进行cleanup
/// </summary>
private void OnDestroy()
{
//isSofaWorking = false;
SofaPhysicsAPI.CleanUp();
}
/// <summary>
/// 重新加载场景
/// </summary>
private void SofaSimulationResetScene()
{
SofaPhysicsAPI.ResetScene();
}
/// <summary>
/// 在API端更新Mesh信息
/// </summary>
private void SofaSimulationStepVisual()
{
SofaPhysicsAPI.StepVisual();
}
/// <summary>
/// 停止时对sofa模拟进行cleanup
/// </summary>
private void OnApplicationQuit()
{
SofaPhysicsAPI.CleanUp();
}
/// <summary>
/// 根据每个节点的组件信息调用SofaPhysicsAPI，对于mechanicalObject和olgModel组件，动态创建unity相关渲染组件
/// </summary>
/// <param name="node"></param>
private void SofaErgodicComponents(Transform node)
{
if (node.name != "root")
{
SofaPhysicsAPI.AddChildNode(ToChar(node.parent.name), ToChar(node.name));
}
Component[] allComponents;
allComponents = node.gameObject.GetComponents <Component>();
foreach (Component com in allComponents)
{
switch (com.GetType().Name)
{
case "Sofa_DefaultPipeline":
Sofa_DefaultPipeline defaultPipeline = node.gameObject.GetComponent <Sofa_DefaultPipeline>();
SofaPhysicsAPI.AddDefaultPipeline(ToChar(node.name), ToChar(defaultPipeline.componentName));
break;
case "Sofa_BruteForceDetection":
Sofa_BruteForceDetection bruteForceDetection = node.gameObject.GetComponent <Sofa_BruteForceDetection>();
SofaPhysicsAPI.AddBruteForceDetection(ToChar(node.name), ToChar(bruteForceDetection.componentName));
break;
case "Sofa_DefaultContactManager":
Sofa_DefaultContactManager defaultContactManager = node.gameObject.GetComponent <Sofa_DefaultContactManager>();
SofaPhysicsAPI.AddDefaultContactManager(ToChar(node.name), ToChar(defaultContactManager.componentName));
break;
case "Sofa_DiscreteIntersection":
Sofa_DiscreteIntersection discreteIntersection = node.gameObject.GetComponent <Sofa_DiscreteIntersection>();
SofaPhysicsAPI.AddDiscreteIntersection(ToChar(node.name), ToChar(discreteIntersection.componentName));
break;
case "Sofa_EulerImplicSolver":
Sofa_EulerImplicSolver eulerImplicSolver = node.gameObject.GetComponent <Sofa_EulerImplicSolver>();
SofaPhysicsAPI.AddEulerImplicSolver(ToChar(node.name), ToChar(eulerImplicSolver.componentName), eulerImplicSolver.rayleighStiffness, eulerImplicSolver.rayleighMass);
break;
case "Sofa_CGLinearSolver":
Sofa_CGLinearSolver cGLinearSolver = node.gameObject.GetComponent <Sofa_CGLinearSolver>();
SofaPhysicsAPI.AddCGLinearSolver(ToChar(node.name), ToChar(cGLinearSolver.componentName), cGLinearSolver.iterations, cGLinearSolver.tolerance, cGLinearSolver.threshold);
break;
case "Sofa_MeshGmshLoader":
Sofa_MeshGmshLoader meshGmshLoader = node.gameObject.GetComponent <Sofa_MeshGmshLoader>();
SofaPhysicsAPI.AddMeshGmshLoader(ToChar(node.name), ToChar(meshGmshLoader.componentName), ToChar(meshGmshLoader.filePath));
break;
case "Sofa_TetrahedronSetTopologyContainer":
Sofa_TetrahedronSetTopologyContainer tetrahedronSetTopologyContainer = node.gameObject.GetComponent <Sofa_TetrahedronSetTopologyContainer>();
SofaPhysicsAPI.AddTetrahedronSetTopologyContainer(ToChar(node.name), ToChar(tetrahedronSetTopologyContainer.componentName), ToChar(tetrahedronSetTopologyContainer.srcPath), ToChar(tetrahedronSetTopologyContainer.srcName));
break;
case "Sofa_MechanicalObject":
Sofa_MechanicalObject mechanicalObject = node.gameObject.GetComponent <Sofa_MechanicalObject>();
SofaPhysicsAPI.AddMechanicalObjectSrcPath(ToChar(node.name), ToChar(mechanicalObject.componentName), ToChar(mechanicalObject.srcPath), ToChar(mechanicalObject.srcName));
UnityMechanicalObjectInfoInit(node, mechanicalObject.componentName, mechanicalObject.triangleMat, mechanicalObject.quadMat, mechanicalObject.tetrahedraMat);
break;
case "Sofa_TetrahedronSetGeometryAlgorithms":
Sofa_TetrahedronSetGeometryAlgorithms tetrahedronSetGeometryAlgorithms = node.gameObject.GetComponent <Sofa_TetrahedronSetGeometryAlgorithms>();
SofaPhysicsAPI.AddTetrahedronSetGeometryAlgorithms(ToChar(node.name), ToChar(tetrahedronSetGeometryAlgorithms.componentName));
break;
case "Sofa_TetrahedronSetTopologyModifier":
Sofa_TetrahedronSetTopologyModifier tetrahedronSetTopologyModifier = node.gameObject.GetComponent <Sofa_TetrahedronSetTopologyModifier>();
SofaPhysicsAPI.AddTetrahedronSetTopologyModifier(ToChar(node.name), ToChar(tetrahedronSetTopologyModifier.componentName));
break;
case "Sofa_TetrahedronSetTopologyAlgorithms":
Sofa_TetrahedronSetTopologyAlgorithms tetrahedronSetTopologyAlgorithms = node.gameObject.GetComponent <Sofa_TetrahedronSetTopologyAlgorithms>();
SofaPhysicsAPI.AddTetrahedronSetTopologyAlgorithms(ToChar(node.name), ToChar(tetrahedronSetTopologyAlgorithms.componentName));
break;
case "Sofa_DiagonalMass":
Sofa_DiagonalMass diagonalMass = node.gameObject.GetComponent <Sofa_DiagonalMass>();
SofaPhysicsAPI.AddDiagonalMass(ToChar(node.name), ToChar(diagonalMass.componentName), diagonalMass.massDensity);
break;
case "Sofa_TetrahedralCorotationalFEMForceField":
Sofa_TetrahedralCorotationalFEMForceField tetrahedralCorotationalFEMForceField = node.gameObject.GetComponent <Sofa_TetrahedralCorotationalFEMForceField>();
SofaPhysicsAPI.AddTetrahedralCorotationalFEMForceField(ToChar(node.name), ToChar(tetrahedralCorotationalFEMForceField.componentName), ToChar(tetrahedralCorotationalFEMForceField.method), tetrahedralCorotationalFEMForceField.poissonRatio, tetrahedralCorotationalFEMForceField.youngModulus, tetrahedralCorotationalFEMForceField.computeGlobalMatrix);
break;
case "Sofa_FixedConstraint":
Sofa_FixedConstraint fixedConstraint = node.gameObject.GetComponent <Sofa_FixedConstraint>();
SofaPhysicsAPI.AddFixedConstraint(ToChar(node.name), ToChar(fixedConstraint.componentName), fixedConstraint.indices, fixedConstraint.indices.Length);
break;
case "Sofa_OglModel":
Sofa_OglModel oglModel = node.gameObject.GetComponent <Sofa_OglModel>();
SofaPhysicsAPI.AddOglModel(ToChar(node.name), ToChar(oglModel.componentName), ToChar(oglModel.fileMesh));
UnityMeshInfoInit(node, oglModel.componentName, oglModel.mat);
break;
case "Sofa_BarycentricMapping":
Sofa_BarycentricMapping baryCentricMapping = node.gameObject.GetComponent <Sofa_BarycentricMapping>();
SofaPhysicsAPI.AddBarycentricMapping(ToChar(node.name), ToChar(baryCentricMapping.componentName), ToChar(baryCentricMapping.input), ToChar(baryCentricMapping.output));
break;
default:
break;
}
}
}
