void Init_ClothAttach()
{
float s = 4;
float h = 6;
int r = 9;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, h, -s),
new Vector3(+s, h, -s),
new Vector3(-s, h, +s),
new Vector3(+s, h, +s), r, r, 4 + 8, true);
SoftWorld.AddSoftBody(psb);
RigidBody body = LocalCreateRigidBody(20, Matrix.Translation(0, h, -(s + 3.5f)), new BoxShape(s, 1, 3));
psb.AppendAnchor(0, body);
psb.AppendAnchor(r - 1, body);
body.UserObject = "LargeBox";
cutting = true;
}
void InitRopeAttach()
{
softBodyWorldInfo.SparseSdf.RemoveReferences(null);
RigidBody body = LocalCreateRigidBody(50, Matrix.Translation(12, 8, 0), new BoxShape(2, 6, 2));
SoftBody psb0 = CreateRope(new Vector3(0, 8, -1));
SoftBody psb1 = CreateRope(new Vector3(0, 8, +1));
psb0.AppendAnchor(psb0.Nodes.Count - 1, body);
psb1.AppendAnchor(psb1.Nodes.Count - 1, body);
}
internal override bool _BuildCollisionObject()
{
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 m_BSoftBody = SoftBodyHelpers.CreateRope(World.WorldInfo,
meshSettings.startPoint.ToBullet(), meshSettings.endPoint.ToBullet(), meshSettings.numPointsInRope, 0);
m_collisionObject = m_BSoftBody;
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, (BulletSharp.RigidBody)anchor.body.GetCollisionObject());
}
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()
{
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);
}
