public override bool BuildSoftBody()
{
if (meshSettings.numPointsInRope < 2)
{
Debug.LogError("There must be at least two points in the rope");
return(false);
}
if (SoftBodySettings.totalMass <= 0f)
{
Debug.LogError("The rope must have a positive mass");
return(false);
}
m_BSoftBody = SoftBodyHelpers.CreateRope(World.WorldInfo,
meshSettings.startPoint.ToBullet(), meshSettings.endPoint.ToBullet(), meshSettings.numPointsInRope, 0);
verts = new Vector3[m_BSoftBody.Nodes.Count];
norms = new Vector3[m_BSoftBody.Nodes.Count];
for (int i = 0; i < m_BSoftBody.Nodes.Count; i++)
{
verts[i] = m_BSoftBody.Nodes[i].Position.ToUnity();
norms[i] = m_BSoftBody.Nodes[i].Normal.ToUnity();
}
//Set SB settings
SoftBodySettings.ConfigureSoftBody(m_BSoftBody);
foreach (RopeAnchor anchor in ropeAnchors)
{
//anchorNode point 0 to 1, rounds to node #
int node = (int)Mathf.Floor(Mathf.Lerp(0, m_BSoftBody.Nodes.Count - 1, anchor.anchorNodePoint));
if (anchor.body != null)
{
m_BSoftBody.AppendAnchor(node, anchor.body.GetRigidBody());
}
else
{
m_BSoftBody.SetMass(node, 0); //setting node mass to 0 fixes it in space apparently
}
}
//TODO: lr, Doesnt always work in editor
LineRenderer lr = GetComponent <LineRenderer>();
lr.useWorldSpace = false;
lr.SetVertexCount(verts.Length);
lr.SetWidth(meshSettings.width, meshSettings.width);
lr.SetColors(meshSettings.startColor, meshSettings.endColor);
//Set SB position to GO position
//m_BSoftBody.Rotate(transform.rotation.ToBullet());
//m_BSoftBody.Translate(transform.position.ToBullet());
//m_BSoftBody.Scale(transform.localScale.ToBullet());
UpdateMesh();
return(true);
}
internal override bool _BuildCollisionObject()
{
Mesh mesh = meshSettings.Build();
GetComponent <MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = mesh.vertices[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
internal override bool _BuildCollisionObject()
{
//Mesh mesh = new Mesh();
//GetComponent<MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[actuallyverts.Count];
for (int i = 0; i < actuallyverts.Count; i++)
{
bVerts[i] = actuallyverts[i].ToBullet();
}
SoftBody m_BSoftBody = CreateVolumetricSoftbody(World.WorldInfo, bVerts);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
internal override bool _BuildCollisionObject()
{
Mesh mesh = meshSettings.Build();
if (mesh == null)
{
Debug.LogError("Could not build mesh from meshSettings for " + this, transform);
return(false);
}
GetComponent <MeshFilter>().sharedMesh = mesh;
#if UNITY_EDITOR
if (!UnityEditor.EditorApplication.isPlaying)
{
return(false);
}
#endif
if (World == null)
{
return(false);
}
//convert the mesh data to Bullet data and create SoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
Vector3[] verts = mesh.vertices;
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = verts[i].ToBullet();
}
softBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
collisionObject = softBody;
SoftBodySettings.ConfigureSoftBody(softBody);//Set SB settings
//Set SB position to GO position
softBody.Rotate(transform.rotation.ToBullet());
softBody.Translate(transform.position.ToBullet());
softBody.Scale(transform.localScale.ToBullet());
return(true);
}
internal override bool _BuildCollisionObject()
{
if (World == null)
{
return(false);
}
if (meshSettings.numPointsInRope < 2)
{
Debug.LogError("There must be at least two points in the rope");
return(false);
}
if (SoftBodySettings.totalMass <= 0f)
{
Debug.LogError("The rope must have a positive mass");
return(false);
}
softBody = SoftBodyHelpers.CreateRope
(
World.WorldInfo,
meshSettings.startPoint.ToBullet(),
meshSettings.endPoint.ToBullet(),
meshSettings.numPointsInRope,
0
);
collisionObject = softBody;
verts = new Vector3[softBody.Nodes.Count];
norms = new Vector3[softBody.Nodes.Count];
for (int i = 0; i < softBody.Nodes.Count; i++)
{
verts[i] = softBody.Nodes[i].Position.ToUnity();
norms[i] = softBody.Nodes[i].Normal.ToUnity();
}
//Set SB settings
SoftBodySettings.ConfigureSoftBody(softBody);
foreach (RopeAnchor anchor in ropeAnchors)
{
//anchorNode point 0 to 1, rounds to node #
int node = (int)Mathf.Floor(Mathf.Lerp(0, softBody.Nodes.Count - 1, anchor.anchorNodePoint));
if (anchor.body != null)
{
softBody.AppendAnchor(node, (BulletSharp.RigidBody)anchor.body.GetCollisionObject());
}
else
{
softBody.SetMass(node, 0); //setting node mass to 0 fixes it in space apparently
}
}
//TODO: lr, Doesnt always work in editor
LineRenderer lr = GetComponent <LineRenderer>();
lr.useWorldSpace = false;
lr.positionCount = verts.Length;
lr.startWidth = meshSettings.width;
lr.endWidth = meshSettings.width;
lr.startColor = meshSettings.startColor;
lr.endColor = meshSettings.endColor;
UpdateMesh();
return(true);
}
internal override bool _BuildCollisionObject()
{
if (World == null)
{
return(false);
}
if (transform.localScale != Vector3.one)
{
Debug.LogError("The scale must be 1,1,1");
}
if (bone2idxMap == null || bone2idxMap.Length == 0)
{
Debug.LogError("No bones have been mapped to soft body nodes for object " + name);
}
for (int i = 0; i < anchors.Length; i++)
{
if (anchors[i].anchorRigidBody == null)
{
Debug.LogError("No anchor rigid body has been set for anchor " + i);
}
if (anchors[i].anchorNodeIndexes == null || anchors[i].anchorNodeIndexes.Count == 0)
{
Debug.LogError("No nodes have been identified as anchors. Soft body will not be attached to RigidBody anchor " + anchors[i].anchorRigidBody);
}
}
if (physicsSimMesh == null)
{
physicsSimMesh = GetComponent <MeshFilter>();
}
Mesh mesh = physicsSimMesh.sharedMesh;
//convert the mesh data to Bullet data and create DoftBody
//todo should these be in world coordinates
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
Vector3[] verts = mesh.vertices;
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = verts[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(physicsSimMesh.transform.rotation.ToBullet());
m_BSoftBody.Translate(physicsSimMesh.transform.position.ToBullet());
m_BSoftBody.Scale(physicsSimMesh.transform.localScale.ToBullet());
for (int i = 0; i < anchors.Length; i++)
{
BAnchor a = anchors[i];
for (int j = 0; j < a.anchorNodeIndexes.Count; j++)
{
m_BSoftBody.AppendAnchor(a.anchorNodeIndexes[j], (RigidBody)a.anchorRigidBody.GetCollisionObject(), false, a.anchorNodeStrength[j]);
}
}
MeshRenderer mr = physicsSimMesh.GetComponent <MeshRenderer>();
if (mr != null)
{
if (debugDisplaySimulatedMesh)
{
mr.enabled = true;
}
else
{
mr.enabled = false;
}
}
if (norms.Length == 0 || norms.Length != verts.Length)
{
norms = new Vector3[m_BSoftBody.Nodes.Count];
verts = new Vector3[m_BSoftBody.Nodes.Count];
}
for (int i = 0; i < m_BSoftBody.Nodes.Count; i++)
{
norms[i] = m_BSoftBody.Nodes[i].Normal.ToUnity();
verts[i] = m_BSoftBody.Nodes[i].Position.ToUnity();
}
for (int i = 0; i < bone2idxMap.Length; i++)
{
bone2idxMap[i].bindNormal = norms[bone2idxMap[i].nodeIdx];
bone2idxMap[i].bindBoneRotation = bone2idxMap[i].bone.rotation;
for (int j = 0; j < bone2idxMap[i].edges.Length; j++)
{
bone2idxMap[i].edges[j].bindEdgeXnorm = Vector3.Cross(verts[bone2idxMap[i].edges[j].nodeIdx] - verts[bone2idxMap[i].nodeIdx], norms[bone2idxMap[i].nodeIdx]).normalized;
}
}
return(true);
}