public void Start()
{
// Default initialization
this.m_simulable = null;
// Try to get simulable component from the object
this.m_simulable = this.SimulableObject.GetComponent <ISimulable> ();
// Check if component was found
if (this.m_simulable == null)
{
System.Console.WriteLine("[ERROR] Couldn't find any ISimulable component");
this.m_isSimulable = false;
}
else
{
System.Console.WriteLine("[TRACE] Succesfully found ISimulable component");
this.m_isSimulable = true;
}
if (this.m_isSimulable)
{
// Initialize simulable model
this.m_simulable.initialize();
// Update forces/matrices after the change
this.m_simulable.updateForcesAndMatrices();
// Store current position and velocity vectors
this.m_vxPre = this.m_simulable.getPositionVector();
this.m_vvPre = this.m_simulable.getVelocityVector();
}
}
/// <summary>
/// Performs a simulation step using Verlet integration.
/// </summary>
private void stepVerlet(ISimulable o)
{
o.updateForcesAndMatrices();
float h = TimeStep;
VectorXD p = o.getPositionVector();
MatrixXD M = o.getMassMatrix();
VectorXD v = o.getVelocityVector();
VectorXD F = o.getForceVector();
VectorXD a = F / M.Diagonal();
o.fixSimulationVector(a);
//float pos = 2 * data.Pos - data.PrePos + a * (TimeStep * TimeStep);
//float velocity = (pos - data.PrePos) / (2 * TimeStep);
VectorXD newPositions = 2 * p - m_vxPre + a * h * h;
VectorXD newVelocities = (newPositions - m_vxPre) / (2 * h);
o.fixSimulationVector(newVelocities);
m_vxPre = p;
m_vvPre = v;
o.setPositionVector(newPositions);
o.setVelocityVector(newVelocities);
}
/// <summary>
/// Performs a simulation step using Symplectic integration.
/// </summary>
private void stepSymplectic(ISimulable o)
{
o.updateForcesAndMatrices();
float h = TimeStep;
VectorXD p = o.getPositionVector();
MatrixXD M = o.getMassMatrix();
VectorXD v = o.getVelocityVector();
VectorXD F = o.getForceVector();
/*
* MatrixXD A = M + (h * D) + (h * h * K);
* VectorXD b = ((M + h * D) * v) + h * F;
*
* VectorXD velocities = A.Solve (b);*/
VectorXD velocities = v + h * (F / M.Diagonal());
o.fixSimulationVector(velocities);
VectorXD newPositions = p + velocities * h;
o.setPositionVector(newPositions);
o.setVelocityVector(velocities);
}
public void Start()
{
int index = 0;
m_objs = new List <ISimulable> (SimulableObjects.Capacity);
foreach (GameObject obj in SimulableObjects)
{
ISimulable simobj = obj.GetComponent <ISimulable> ();
if (simobj != null)
{
m_objs.Add(simobj);
// Initialize simulable model
simobj.initialize(index, this);
// Retrieve pos and vel size
index += simobj.getNumDof();
}
}
m_numdofs = index;
index = 0;
m_constraints = new List <Constraint> (Constraints.Capacity);
foreach (GameObject obj in Constraints)
{
Constraint constraint = obj.GetComponent <Constraint> ();
if (constraint != null)
{
m_constraints.Add(constraint);
// Initialize constraint
constraint.initialize(index, this);
// Retrieve constraint size
index += constraint.getSize();
}
}
m_numcs = index;
}
/// <summary>
/// Performs a simulation step using Explicit integration.
/// </summary>
private void stepExplicit(ISimulable o)
{
o.updateForcesAndMatrices();
float h = TimeStep;
VectorXD p = o.getPositionVector();
MatrixXD M = o.getMassMatrix();
VectorXD v = o.getVelocityVector();
VectorXD F = o.getForceVector();
VectorXD velocities = v + h * (F / M.Diagonal());
o.fixSimulationVector(velocities);
VectorXD newPositions = p + v * h;
o.setPositionVector(newPositions);
o.setVelocityVector(velocities);
}
public void Start()
{
//Parse the simulable objects and initialize their state indices
m_numDoFs = 0;
m_objs = new List <ISimulable>(SimObjects.Capacity);
foreach (GameObject obj in SimObjects)
{
ISimulable simobj = obj.GetComponent <ISimulable>();
if (simobj != null)
{
m_objs.Add(simobj);
// Initialize simulable object
simobj.Initialize(m_numDoFs, this, Fixers);
// Retrieve pos and vel size
m_numDoFs += simobj.GetNumDoFs();
}
}
}
public void Start()
{
//Parse the simulable objects and initialize their state indices
m_numDoFs = 0;
m_objs = new List <ISimulable>(SimObjects.Count);
foreach (GameObject obj in SimObjects)
{
ISimulable simobj = obj.GetComponent <ISimulable>();
if (simobj != null)
{
m_objs.Add(simobj);
// Initialize simulable object
simobj.Initialize(m_numDoFs, this);
// Retrieve pos and vel size
m_numDoFs += simobj.GetNumDoFs();
}
}
//Parse the constraints
m_numConstraints = 0;
m_constraints = new List <IConstraint>(Constraints.Count);
foreach (GameObject obj in Constraints)
{
IConstraint constraint = obj.GetComponent <IConstraint>();
if (constraint != null)
{
m_constraints.Add(constraint);
// Initialize constraint
constraint.Initialize(m_numConstraints, this);
// Retrieve the number of constraints
m_numConstraints += constraint.GetNumConstraints();
}
}
}
/// <summary>
/// Performs a simulation step using Semi-Implicit integration.
/// </summary>
private void stepSemiImplicit(ISimulable o)
{
o.updateForcesAndMatrices();
float h = TimeStep;
VectorXD p = o.getPositionVector();
MatrixXD M = o.getMassMatrix();
MatrixXD K = o.getSpringsJacobian();
MatrixXD D = o.getDampingMatrix();
VectorXD v = o.getVelocityVector();
VectorXD F = o.getForceVector();
MatrixXD A = M + (h * D) + (h * h * K);
VectorXD b = ((M + h * D) * v) + h * F;
VectorXD velocities = A.Solve(b);
o.fixSimulationVector(velocities);
VectorXD newPositions = p + velocities * h;
o.setPositionVector(newPositions);
o.setVelocityVector(velocities);
}
