void InitClusterCollide2()
{
for (int i = 0; i < 3; ++i)
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
Material pm = psb.AppendMaterial();
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.PIterations = 2;
psb.Cfg.DF = 1;
psb.Cfg.SshrCl = 1;
psb.Cfg.SSSplitCl = 0;
psb.Cfg.SkhrCl = 0.1f;
psb.Cfg.SKSplitCl = 1;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
psb.RandomizeConstraints();
Matrix m = Matrix.RotationYawPitchRoll((float)Math.PI / 2 * (i & 1), (float)Math.PI / 2 * (1 - (i & 1)), 0)
* Matrix.Translation(3 * i, 2, 0);
psb.Transform(m);
psb.Scale(new Vector3(2, 2, 2));
psb.SetTotalMass(50, true);
psb.GenerateClusters(16);
SoftWorld.AddSoftBody(psb);
}
}
void InitClusterDeform()
{
SoftBody psb = CreateClusterTorus(Vector3.Zero, new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2));
psb.GenerateClusters(8);
psb.Cfg.DF = 1;
}
void InitClusterCollide1()
{
const float s = 8;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, 0, -s),
new Vector3(+s, 0, -s),
new Vector3(-s, 0, +s),
new Vector3(+s, 0, +s),
17, 17,//9,9,//31,31,
1 + 2 + 4 + 8,
true);
Material pm = psb.AppendMaterial();
pm.Lst = 0.4f;
pm.Flags -= FMaterial.DebugDraw;
psb.Cfg.DF = 1;
psb.Cfg.SrhrCl = 1;
psb.Cfg.SRSplitCl = 0;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
psb.GenerateBendingConstraints(2, pm);
psb.CollisionShape.Margin = 0.05f;
psb.SetTotalMass(50);
// pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb.GenerateClusters(0);
//psb.GenerateClusters(64);
SoftWorld.AddSoftBody(psb);
CreateRigidBodyStack(10);
CullingEnabled = false;
}
void InitTetraCube()
{
string path = System.IO.Path.GetDirectoryName(Application.ExecutablePath);
SoftBody psb = SoftBodyHelpers.CreateFromTetGenFile(softBodyWorldInfo,
path + "\\data\\cube.ele", null, path + "\\data\\cube.node", false, true, true);
SoftWorld.AddSoftBody(psb);
psb.Scale(new Vector3(4, 4, 4));
psb.Translate(0, 5, 0);
psb.SetVolumeMass(300);
// fix one vertex
//psb.SetMass(0,0);
//psb.SetMass(10,0);
//psb.SetMass(20,0);
psb.Cfg.PIterations = 1;
//psb.GenerateClusters(128);
psb.GenerateClusters(16);
//psb.CollisionShape.Margin = 0.5f;
psb.CollisionShape.Margin = 0.01f;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
// | FCollisions.CLSelf;
psb.Materials[0].Lst = 0.8f;
cutting = false;
CullingEnabled = false;
}
SoftBody Init_ClusterRobot_CreateBall(Vector3 pos)
{
SoftBody psb = SoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo, pos, new Vector3(1, 1, 1) * 3, 512);
psb.Materials[0].Lst = 0.45f;
psb.Cfg.VC = 20;
psb.SetTotalMass(50, true);
psb.SetPose(true, false);
psb.GenerateClusters(1);
SoftWorld.AddSoftBody(psb);
return(psb);
}
void Init_TetraBunny()
{
SoftBody psb = SoftBodyHelpers.CreateFromTetGenData(softBodyWorldInfo,
Bunny.GetElements(), null, Bunny.GetNodes(), false, true, true);
SoftWorld.AddSoftBody(psb);
psb.Rotate(Quaternion.RotationYawPitchRoll((float)Math.PI / 2, 0, 0));
psb.SetVolumeMass(150);
psb.Cfg.PIterations = 2;
//psb.Cfg.PIterations = 1;
cutting = false;
//psb.CollisionShape.Margin = 0.01f;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS; //| FCollisions.CLSelf;
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb.GenerateClusters(0);
//psb.Materials[0].Lst = 0.2f;
psb.Cfg.DF = 10;
}
SoftBody CreateClusterTorus(Vector3 x, Vector3 a, Vector3 s)
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
Material pm = psb.AppendMaterial();
pm.Lst = 1;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.PIterations = 2;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
psb.RandomizeConstraints();
psb.Scale(s);
Matrix m = Matrix.RotationYawPitchRoll(a.X, a.Y, a.Z) * Matrix.Translation(x);
psb.Transform(m);
psb.SetTotalMass(50, true);
psb.GenerateClusters(64);
SoftWorld.AddSoftBody(psb);
return(psb);
}
/// <summary>
/// Apply these SoftBody settings to this SoftBody
/// </summary>
/// <param name="softBody"></param>
public void ConfigureSoftBody(SoftBody softBody)
{
softBody.Scale(scale.ToBullet());
BulletSharp.SoftBody.Material pm = softBody.Materials[0];
sBMaterial.SetSBMaterial(pm);
config.CopyToBulletSBConfig(softBody.Cfg);
if (allNodeBendingConstraints)
{
for (int i = 0; i < softBody.Nodes.Count - 1; ++i)
{
softBody.GenerateBendingConstraints(1 + i);
}
}
else
{
softBody.GenerateBendingConstraints(bendingConstraintDistance, pm);
}
if (randomizeConstraints)
{
softBody.RandomizeConstraints();
}
if (generateClusters)
{
softBody.GenerateClusters(0);
}
softBody.SetTotalMass(totalMass, fromFaces);
softBody.SetPose(bvolume, bframe);
}
