public bool RemoveBody(SoftBody body)
{
if (!this.softbodies.Remove(body)) return false;
this.CollisionSystem.RemoveEntity(body);
events.RaiseRemovedSoftBody(body);
foreach (Constraint constraint in body.EdgeSprings)
RemoveConstraint(constraint);
foreach (SoftBody.MassPoint massPoint in body.VertexBodies)
RemoveBody(massPoint, true);
return true;
}
internal void RaiseRemovedSoftBody(SoftBody body)
{
if (RemovedSoftBody != null) RemovedSoftBody(body);
}
public void AddBody(SoftBody body)
{
if (body == null) throw new ArgumentNullException("body", "body can't be null.");
if (softbodies.Contains(body)) throw new ArgumentException("The body was already added to the world.", "body");
this.softbodies.Add(body);
this.CollisionSystem.AddEntity(body);
events.RaiseAddedSoftBody(body);
foreach (Constraint constraint in body.EdgeSprings)
AddConstraint(constraint);
foreach (SoftBody.MassPoint massPoint in body.VertexBodies)
{
events.RaiseAddedRigidBody(massPoint);
rigidBodies.Add(massPoint);
}
}
public Triangle(SoftBody owner)
{
this.owner = owner;
}
internal void RaiseAddedSoftBody(SoftBody body)
{
if (AddedSoftBody != null) AddedSoftBody(body);
}
public static int FindNearestTrianglePoint(SoftBody sb, int id, ref JVector point)
{
SoftBody.Triangle triangle = sb.dynamicTree.GetUserData(id);
JVector p;
p = sb.VertexBodies[triangle.indices.I0].position;
JVector.Subtract(ref p, ref point, out p);
float length0 = p.LengthSquared();
p = sb.VertexBodies[triangle.indices.I1].position;
JVector.Subtract(ref p, ref point, out p);
float length1 = p.LengthSquared();
p = sb.VertexBodies[triangle.indices.I2].position;
JVector.Subtract(ref p, ref point, out p);
float length2 = p.LengthSquared();
if (length0 < length1)
{
if (length0 < length2) return triangle.indices.I0;
else return triangle.indices.I2;
}
else
{
if (length1 < length2) return triangle.indices.I1;
else return triangle.indices.I2;
}
}
public MassPoint(Shape shape, SoftBody owner, Material material)
: base(shape, material, true)
{
this.SoftBody = owner;
}
private void DetectSoftSoft(SoftBody body1, SoftBody body2)
{
List<int> my = potentialTriangleLists.GetNew();
List<int> other = potentialTriangleLists.GetNew();
body1.dynamicTree.Query(other, my, body2.dynamicTree);
for (int i = 0; i < other.Count; i++)
{
SoftBody.Triangle myTriangle = body1.dynamicTree.GetUserData(my[i]);
SoftBody.Triangle otherTriangle = body2.dynamicTree.GetUserData(other[i]);
JVector point, normal;
float penetration;
bool result;
result = XenoCollide.Detect(myTriangle, otherTriangle, ref JMatrix.InternalIdentity, ref JMatrix.InternalIdentity,
ref JVector.InternalZero, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndexMy = FindNearestTrianglePoint(body1, my[i], ref point);
int minIndexOther = FindNearestTrianglePoint(body2, other[i], ref point);
RaiseCollisionDetected(body1.VertexBodies[minIndexMy],
body2.VertexBodies[minIndexOther], ref point, ref point, ref normal, penetration);
}
}
my.Clear(); other.Clear();
potentialTriangleLists.GiveBack(my);
potentialTriangleLists.GiveBack(other);
}
private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
{
if (rigidBody.Shape is Multishape)
{
Multishape ms = (rigidBody.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = softBody.BoundingBox;
transformedBoundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
List<int> detected = potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);
foreach (int i in detected)
{
SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);
JVector point, normal;
float penetration;
bool result;
for (int e = 0; e < msLength; e++)
{
ms.SetCurrentShape(e);
result = XenoCollide.Detect(ms, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndex = FindNearestTrianglePoint(softBody, i, ref point);
RaiseCollisionDetected(rigidBody,
softBody.VertexBodies[minIndex], ref point, ref point, ref normal, penetration);
}
}
}
detected.Clear(); potentialTriangleLists.GiveBack(detected);
ms.ReturnWorkingClone();
}
else
{
List<int> detected = potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);
foreach (int i in detected)
{
SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);
JVector point, normal;
float penetration;
bool result;
result = XenoCollide.Detect(rigidBody.Shape, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndex = FindNearestTrianglePoint(softBody, i, ref point);
RaiseCollisionDetected(rigidBody,
softBody.VertexBodies[minIndex], ref point, ref point, ref normal, penetration);
}
}
detected.Clear();
potentialTriangleLists.GiveBack(detected);
}
}
public MassPoint(Shape shape, SoftBody owner, Material material)
: base(shape, material)
{
this.isMassPoint = true; this.SoftBody = owner;
useShapeMassProperties = false;
}
public ClothObject(Game game, SoftBody cloth)
: base(game)
{
this.cloth = cloth;
}
private void DrawDynamicTree(SoftBody cloth)
{
if(!debugDraw) return;
Walk(cloth.DynamicTree,cloth.DynamicTree.Root);
}
private void DrawDynamicTree(SoftBody cloth)
{
Walk(cloth.DynamicTree,cloth.DynamicTree.Root);
}
public override void Build()
{
AddGround();
for (int i = 0; i < 15; i++)
{
bool even = (i % 2 == 0);
for (int e = 0; e < 3; e++)
{
JVector size = (even) ? new JVector(1, 1, 3) : new JVector(3, 1, 1);
RigidBody body = new RigidBody(new BoxShape(size));
body.Position = new JVector(3.0f + (even ? e : 1.0f), i + 0.5f, -5.0f + (even ? 1.0f : e));
Demo.World.AddBody(body);
}
}
Model model = this.Demo.Content.Load<Model>("torus");
List<TriangleVertexIndices> indices = new List<TriangleVertexIndices>();
List<JVector> vertices = new List<JVector>();
ConvexHullObject.ExtractData(vertices, indices, model);
RemoveDuplicateVertices(indices, vertices);
SoftBody softBody = new SoftBody(indices, vertices);
softBody.Translate(new JVector(10, 5, 0));
softBody.Pressure = 1000.0f;
softBody.SetSpringValues(0.2f, 0.005f);
//softBody.SelfCollision = true; ;
Demo.World.AddBody(softBody);
SoftBody cloth = new SoftBody(20,20,0.4f);
// ##### Uncomment for selfcollision, all 3 lines
//cloth.SelfCollision = true;
//cloth.TriangleExpansion = 0.05f;
//cloth.VertexExpansion = 0.05f;
cloth.Translate(new JVector(0, 10, 10));
cloth.Material.KineticFriction = 0.9f;
cloth.Material.StaticFriction = 0.95f;
cloth.VertexBodies[0].IsStatic = true;
cloth.VertexBodies[380].IsStatic = true;
cloth.VertexBodies[19].IsStatic = true;
cloth.VertexBodies[399].IsStatic = true;
cloth.SetSpringValues(SoftBody.SpringType.EdgeSpring, 0.1f, 0.01f);
cloth.SetSpringValues(SoftBody.SpringType.ShearSpring, 0.1f, 0.03f);
cloth.SetSpringValues(SoftBody.SpringType.BendSpring, 0.1f, 0.03f);
// ###### Uncomment here for a better visualization
// Demo.Components.Add(new ClothObject(Demo, cloth));
Demo.World.AddBody(cloth);
}
public Triangle(SoftBody owner)
{
this.owner = owner;
}
public MassPoint(Shape shape, SoftBody owner, Material material)
: base(shape, material, true)
{
this.SoftBody = owner;
}
