protected override void SolveInstance(IGH_DataAccess DA)
{
//CONTINUE HERE!!!!
UpdateTask = new Task <int>(() => Update());
FlexParams param = new FlexParams();
FlexCollisionGeometry geom = new FlexCollisionGeometry();
List <FlexForceField> forceFields = new List <FlexForceField>();
List <FlexScene> scenes = new List <FlexScene>();
List <ConstraintSystem> constraints = new List <ConstraintSystem>();
FlexSolverOptions options = new FlexSolverOptions();
bool reset = false;
bool go = false;
DA.GetData(6, ref reset);
DA.GetData(7, ref go);
if (reset)
{
//reset everything related to time tracking
counter = 0;
totalTimeMs = 0;
totalUpdateTimeMs = 0;
sw.Stop();
sw.Reset();
outInfo = new List <string>();
//retrieve relevant data
DA.GetData(0, ref param);
DA.GetData(1, ref geom);
DA.GetDataList(2, forceFields);
DA.GetDataList(3, scenes);
DA.GetDataList(4, constraints);
DA.GetData(5, ref options);
sceneTimeStamps = new List <int>();
forceFieldTimeStamps = new List <int>();
//destroy old Flex instance
if (flex != null)
{
flex.Destroy();
}
//Create new instance and assign everything
flex = new Flex();
flex.SetParams(param);
flex.SetCollisionGeometry(geom);
flex.SetForceFields(forceFields);
foreach (FlexForceField f in forceFields)
{
forceFieldTimeStamps.Add(f.TimeStamp);
}
FlexScene scene = new FlexScene();
foreach (FlexScene s in scenes)
{
scene.AppendScene(s);
sceneTimeStamps.Add(s.TimeStamp);
}
foreach (ConstraintSystem c in constraints)
{
scene.RegisterCustomConstraints(c.AnchorIndices, c.ShapeMatchingIndices, c.ShapeStiffness, c.SpringPairIndices, c.SpringStiffnesses, c.SpringTargetLengths, c.TriangleIndices, c.TriangleNormals);
constraintTimeStamps.Add(c.TimeStamp);
}
flex.SetScene(scene);
flex.SetSolverOptions(options);
}
else if (go && flex != null && flex.IsReady())
{
DA.GetData(5, ref options);
if (options.TimeStamp != optionsTimeStamp)
{
flex.SetSolverOptions(options);
}
if (options.SceneMode == 0 || options.SceneMode == 1)
{
//update params if timestamp expired
DA.GetData(0, ref param);
if (param.TimeStamp != paramsTimeStamp)
{
flex.SetParams(param);
paramsTimeStamp = param.TimeStamp;
}
//update geom if timestamp expired
if (DA.GetData(1, ref geom))
{
if (geom.TimeStamp != geomTimeStamp)
{
flex.SetCollisionGeometry(geom);
geomTimeStamp = geom.TimeStamp;
}
}
else if (geom != null)
{
flex.SetCollisionGeometry(new FlexCollisionGeometry());
}
//update forcefields where timestamp expired
DA.GetDataList(2, forceFields);
bool needsUpdate = false;
for (int i = forceFieldTimeStamps.Count; i < forceFields.Count; i++)
{
forceFieldTimeStamps.Add(forceFields[i].TimeStamp);
needsUpdate = true;
}
for (int i = 0; i < forceFields.Count; i++)
{
if (forceFields[i].TimeStamp != forceFieldTimeStamps[i])
{
needsUpdate = true;
forceFieldTimeStamps[i] = forceFields[i].TimeStamp;
}
}
if (needsUpdate)
{
flex.SetForceFields(forceFields);
}
//update scenes where timestamp expired
DA.GetDataList(3, scenes);
for (int i = sceneTimeStamps.Count; i < scenes.Count; i++)
{
sceneTimeStamps.Add(scenes[i].TimeStamp);
}
for (int i = 0; i < scenes.Count; i++)
{
if (scenes[i].TimeStamp != sceneTimeStamps[i])
{
if (options.SceneMode == 0)
{
flex.SetScene(flex.Scene.AlterScene(scenes[i], false));
}
else
{
flex.SetScene(flex.Scene.AppendScene(scenes[i]));
}
sceneTimeStamps[i] = scenes[i].TimeStamp;
}
}
DA.GetDataList(4, constraints);
for (int i = constraintTimeStamps.Count; i < constraints.Count; i++)
{
constraintTimeStamps.Add(constraints[i].TimeStamp);
}
for (int i = 0; i < constraints.Count; i++)
{
ConstraintSystem c = constraints[i];
if (c.TimeStamp != constraintTimeStamps[i])
{
if (!flex.Scene.RegisterCustomConstraints(c.AnchorIndices, c.ShapeMatchingIndices, c.ShapeStiffness, c.SpringPairIndices, c.SpringStiffnesses, c.SpringTargetLengths, c.TriangleIndices, c.TriangleNormals))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Custom constraint indices exceeded particle count. No constraints applied!");
}
flex.SetScene(flex.Scene);
constraintTimeStamps[i] = constraints[i].TimeStamp;
}
}
}
//Add timing info
outInfo = new List <string>();
counter++;
outInfo.Add(counter.ToString());
long currentTickTimeMs = sw.ElapsedMilliseconds;
sw.Restart();
totalTimeMs += currentTickTimeMs;
outInfo.Add(totalTimeMs.ToString());
outInfo.Add(currentTickTimeMs.ToString());
float avTotalTickTime = ((float)totalTimeMs / (float)counter);
outInfo.Add(avTotalTickTime.ToString());
//start update
UpdateTask.Start();
//Add solver timing info
int tickTimeSolver = UpdateTask.Result;
totalUpdateTimeMs += tickTimeSolver;
float ratUpdateTime = ((float)totalUpdateTimeMs / (float)counter);
outInfo.Add(tickTimeSolver.ToString());
outInfo.Add(ratUpdateTime.ToString());
}
if (go && options.FixedTotalIterations < 1)
{
ExpireSolution(true);
}
else if (flex != null && UpdateTask.Status == TaskStatus.Running)
{
UpdateTask.Dispose();
}
if (flex != null)
{
DA.SetData(0, flex);
}
DA.SetDataList(1, outInfo);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
FlexScene scene = new FlexScene();
List <FlexParticle> parts = new List <FlexParticle>();
//List<Fluid> fluids = new List<Fluid>();
List <RigidBody> rigids = new List <RigidBody>();
List <SoftBody> softs = new List <SoftBody>();
List <SpringSystem> springs = new List <SpringSystem>();
List <Cloth> cloths = new List <Cloth>();
List <Inflatable> inflatables = new List <Inflatable>();
List <ConstraintSystem> constraints = new List <ConstraintSystem>();
DA.GetDataList(0, parts);
//DA.GetDataList(1, fluids);
DA.GetDataList(1, rigids);
DA.GetDataList(2, softs);
DA.GetDataList(3, springs);
DA.GetDataList(4, cloths);
DA.GetDataList(5, inflatables);
DA.GetDataList(6, constraints);
foreach (FlexParticle p in parts)
{
scene.RegisterParticles(new float[3] {
p.PositionX, p.PositionY, p.PositionZ
}, new float[3] {
p.VelocityX, p.VelocityY, p.VelocityZ
}, new float[1] {
p.InverseMass
}, p.IsFluid, p.SelfCollision, p.GroupIndex);
}
//foreach (Fluid f in fluids)
//scene.RegisterFluid(f.Positions, f.Velocities, f.InvMasses, f.GroupIndex);
foreach (RigidBody r in rigids)
{
scene.RegisterRigidBody(r.Vertices, r.VertexNormals, r.Velocity, r.InvMasses, r.Stiffness, r.GroupIndex);
}
foreach (SoftBody s in softs)
{
if (s.Asset != 0)
{
scene.RegisterAsset(s.Asset, s.Velocity, s.InvMass, s.GroupIndex, true);
}
}
foreach (SpringSystem s in springs)
{
s.SpringOffset = scene.RegisterSpringSystem(s.Positions, s.Velocities, s.InvMasses, s.SpringPairIndices, s.Stiffnesses, s.TargetLengths, s.SelfCollision, s.AnchorIndices, s.GroupIndex);
}
foreach (Cloth c in cloths)
{
scene.RegisterCloth(c.Positions, c.Velocities, c.InvMasses, c.Triangles, c.TriangleNormals, c.StretchStiffness, c.BendingStiffness, c.PreTensionFactor, c.AnchorIndices, c.SelfCollision, c.GroupIndex);
}
foreach (Inflatable inf in inflatables)
{
scene.RegisterInflatable(inf.Positions, inf.Velocities, inf.InvMasses, inf.Triangles, inf.TriangleNormals, inf.StretchStiffness, inf.BendingStiffness, inf.PreTensionFactor, inf.RestVolume, inf.OverPressure, inf.ConstraintScale, inf.AnchorIndices, inf.SelfCollision, inf.GroupIndex);
}
foreach (ConstraintSystem c in constraints)
{
scene.RegisterCustomConstraints(c.AnchorIndices, c.ShapeMatchingIndices, c.ShapeStiffness, c.SpringPairIndices, c.SpringStiffnesses, c.SpringTargetLengths, c.TriangleIndices, c.TriangleNormals);
}
DA.SetData(0, scene);
}
public SoftBody(float[] vertices, float[] velocity, float invMass, int[] triangles, float[] softParams, int groupIndex, ref GH_Structure <GH_Point> particleTree, ref GH_Structure <GH_Integer> spiTree, ref GH_Structure <GH_Integer> smcTree, ref GH_Structure <GH_Line> lineTree, ref GH_Structure <GH_Box> boxTree)
{
Vertices = vertices;
Triangles = triangles;
Velocity = velocity;
InvMass = invMass;
SoftParams = softParams;
GroupIndex = groupIndex;
Asset = 0;
InitialParticles = new List <GH_Point>();
SpringIndices = new GH_Structure <GH_Integer>();
ShapeIndices = new GH_Structure <GH_Integer>();
NewMeshFaces = new List <MeshFace>();
unsafe
{
void *asset = null;
FlexScene.InitSoftBodyFromMesh(ref asset, vertices, triangles, softParams[0], softParams[1], softParams[2], softParams[3], softParams[4], softParams[5], softParams[6], softParams[7], softParams[8]);
Asset = (ulong)asset;
float[] initParticles = new float[0];
int[] springIndices = new int[0];
int[][] shapeIndices = new int[0][];
FlexScene.UnwrapSoftBody(asset, ref initParticles, ref springIndices, ref shapeIndices);
int gPathIndex = particleTree.Branches.Count;
GH_Path globalPath = new GH_Path(gPathIndex);
for (int i = 0; i < initParticles.Length; i += 3)
{
GH_Point pt = new GH_Point(new Point3d((double)initParticles[i], (double)initParticles[i + 1], (double)initParticles[i + 2]));
InitialParticles.Add(pt);
particleTree.Append(pt, new GH_Path(gPathIndex));
}
for (int i = 0; i < springIndices.Length; i += 2)
{
//add to this very object
GH_Path p = new GH_Path(i / 2);
SpringIndices.Append(new GH_Integer(springIndices[i]), p);
SpringIndices.Append(new GH_Integer(springIndices[i + 1]), p);
//add to global tree for display
GH_Path gp = new GH_Path(gPathIndex, i / 2);
spiTree.Append(new GH_Integer(springIndices[i]), gp);
spiTree.Append(new GH_Integer(springIndices[i + 1]), gp);
lineTree.Append(
new GH_Line(new Line(InitialParticles[springIndices[i]].Value, InitialParticles[springIndices[i + 1]].Value)), globalPath);
}
for (int i = 0; i < shapeIndices.Length; i++)
{
//add to this very object
GH_Path p = new GH_Path(i);
GH_Path gp = new GH_Path(gPathIndex, i);
List <Point3d> smcPoints = new List <Point3d>();
for (int j = 0; j < shapeIndices[i].Length; j++)
{
ShapeIndices.Append(new GH_Integer(shapeIndices[i][j]), p);
smcTree.Append(new GH_Integer(shapeIndices[i][j]), gp);
smcPoints.Add(InitialParticles[shapeIndices[i][j]].Value);
}
boxTree.Append(new GH_Box(new BoundingBox(smcPoints)), globalPath);
}
}
}
