void Update()
{
//Physics
Verlet.Integrate(clothVerts, prevClothVerts, scaledGravity, Time.deltaTime, previousDeltaTime);
previousDeltaTime = Time.deltaTime;
//Anchor the Top Corner of the Cloth
clothVerts[0] = prevClothVerts[0] = anchor1.position;
clothVerts[10] = prevClothVerts[10] = anchor2.position;
//Constraint Resolution
Verlet.resolveDistanceConstraints(constraints, ref clothVerts, ref accumulatedDisplacements, 1);
//Graphics
clothMesh.vertices = clothVerts;
clothMesh.RecalculateNormals();
clothMesh.RecalculateBounds();
clothMesh.UploadMeshData(false);
}
void Update()
{
//Translate the points into world space
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
//Physics
float currentDeltaTime = Mathf.Clamp(Time.deltaTime, 0.01f, previousDeltaTime * 1.4f);
Verlet.Integrate(bodyVerts, prevBodyVerts, scaledGravity, currentDeltaTime, previousDeltaTime);
previousDeltaTime = currentDeltaTime;
//Anchor a point on the body
if (anchor != null && anchor.gameObject.activeInHierarchy)
{
bodyVerts[0] = prevBodyVerts[0] = anchor.position;
}
//Also sneak in a ground plane here:
Vector3 groundPlanePos = groundPlane.position;
Vector3 groundPlaneNormal = -groundPlane.forward;
for (int j = 0; j < bodyVerts.Length; j++)
{
if (Vector3.Dot(bodyVerts[j] - groundPlanePos, groundPlaneNormal) < 0f)
{
bodyVerts[j] = Vector3.ProjectOnPlane(bodyVerts[j] - groundPlanePos, groundPlaneNormal) + groundPlanePos;
bodyVerts[j] -= Vector3.ProjectOnPlane(bodyVerts[j] - prevBodyVerts[j], groundPlaneNormal) * 0.3f;
}
}
//Calculate the the position and rotation of the body
for (int i = 0; i < bodyVerts.Length; i++)
{
kabschVerts[i] = new Vector4(bodyVerts[i].x, bodyVerts[i].y, bodyVerts[i].z, 1f);
}
;
kabschVerts.CopyTo(kabschVertsArray);
Matrix4x4 toWorldSpace = kabschSolver.SolveKabsch(originalVerts, kabschVertsArray, true);
constrainVertsToDeformation(originalVerts, toWorldSpace, ref bodyVerts);
Verlet.RecalculateNormalsNonAlloc(bodyVerts, bodyTriangles, ref bodyNormals);
//Move the points into local space for rendering
transform.position = toWorldSpace.GetVector3();
transform.rotation = toWorldSpace.GetQuaternion();
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.InverseTransformPoint(bodyVerts[i]);
renderNormals[i] = transform.InverseTransformDirection(bodyNormals[i]);
}
Debug.DrawRay(transform.position, toWorldSpace * (Vector3.Cross(yBasis, zBasis).normalized *xScale), Color.red);
Debug.DrawRay(transform.position, toWorldSpace * yBasis, Color.green);
Debug.DrawRay(transform.position, toWorldSpace * zBasis, Color.blue);
//Graphics
bodyVerts.CopyTo(bodyVertsArray);
renderNormals.CopyTo(renderNormalsArray);
bodyMesh.vertices = bodyVertsArray;
bodyMesh.normals = renderNormalsArray;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}
void Update()
{
//Translate the points into world space
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
//Physics
float currentDeltaTime = Mathf.Clamp(Time.deltaTime, 0.01f, previousDeltaTime * 1.4f);
Verlet.Integrate(bodyVerts, prevBodyVerts, scaledGravity, currentDeltaTime, previousDeltaTime);
previousDeltaTime = currentDeltaTime;
//Anchor a point on the body
if (anchor != null && anchor.gameObject.activeInHierarchy)
{
bodyVerts[0] = prevBodyVerts[0] = anchor.position;
}
for (int i = 0; i < solverIterations; i++)
{
//First, ensure that the surface area is what we think it is
Verlet.resolveDistanceConstraints(constraints, ref bodyVerts, ref accumulatedDisplacements, 1);
//Next, set the volume of the soft body
Verlet.setVolume(inflationAmount * initialVolume, bodyVerts, bodyNormals, bodyTriangles, initialSurfaceArea, true, fastButGarbage);
}
//Also sneak in a ground plane here:
Vector3 groundPlanePos = groundPlane.position;
Vector3 groundPlaneNormal = -groundPlane.forward;
for (int j = 0; j < bodyVerts.Length; j++)
{
if (Vector3.Dot(bodyVerts[j] - groundPlanePos, groundPlaneNormal) < 0f)
{
bodyVerts[j] = Vector3.ProjectOnPlane(bodyVerts[j] - groundPlanePos, groundPlaneNormal) + groundPlanePos;
bodyVerts[j] -= Vector3.ProjectOnPlane(bodyVerts[j] - prevBodyVerts[j], groundPlaneNormal) * 0.3f;
}
}
//Calculate the the position and rotation of the body
for (int i = 0; i < bodyVerts.Length; i++)
{
kabschVerts[i] = new Vector4(bodyVerts[i].x, bodyVerts[i].y, bodyVerts[i].z, 1f);
}
;
Matrix4x4 toWorldSpace = kabschSolver.SolveKabsch(originalVerts, kabschVerts, transformFollowsRotation);
transform.position = toWorldSpace.GetVector3();
transform.rotation = toWorldSpace.GetQuaternion();
//Move the points into local space for rendering
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.InverseTransformPoint(bodyVerts[i]);
renderNormals[i] = transform.InverseTransformDirection(bodyNormals[i]);
}
//Graphics
bodyMesh.vertices = bodyVerts;
bodyMesh.normals = renderNormals;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}
