public void CollisionStay(PhysXCollision collision)
{
if (collision.contactCount > 0 && collision.GetContact(0).separation < -minPenetration)
{
if ((collision.rigidBody == null || collision.rigidBody.mass >= minDeformationMass) &&
!collision.collider.gameObject.CompareTag("DustGround"))
{
meshDeformationMarker.Begin();
bool isInconvenient = collision.collider is PhysXMeshCollider && !((PhysXMeshCollider)collision.collider).convex;
Vector3 collisionSurfaceNormal = Vector3.zero;
Vector3 collisionSurfacePoint = Vector3.zero;
for (int i = 0; i < collision.contactCount; i++)
{
PhysXContactPoint contactPoint = collision.GetContact(i);
float impulseMagnitude = contactPoint.impulse.magnitude;
collisionSurfaceNormal += contactPoint.normal;
collisionSurfacePoint += contactPoint.point;
}
collisionSurfaceNormal /= collision.contactCount;
collisionSurfacePoint /= collision.contactCount;
collisionSurfaceNormal = transform.InverseTransformDirection(collisionSurfaceNormal);
collisionSurfacePoint = transform.InverseTransformPoint(collisionSurfacePoint);
gizmoSurfaceNormal = collisionSurfaceNormal;
gizmoSurfacePoint = collisionSurfacePoint;
Vector3 oldPosition = collision.body.position;
Quaternion oldRotation = collision.body.rotation;
collision.body.position = transform.InverseTransformPoint(collision.body.position);
collision.body.rotation = Quaternion.Inverse(transform.rotation) * collision.body.rotation;
VertexGroup[] groups = meshGraph.groups;
for (int i = 0; i < groups.Length; i++)
{
VertexGroup current = groups[i];
Vector3 vertex = current.pos;
if (IsBeyondCollisionSurface(collisionSurfaceNormal, collisionSurfacePoint, vertex))
{
if (isInconvenient || collision.collider.ClosestPoint(vertex) == vertex)
{
Vector3 deformation = DeformationFromCollisionSurface(collisionSurfaceNormal, collisionSurfacePoint, vertex);
// if (addNoise) deformation *= Random.value * multiplier + addition;
current.MoveBy(vertices, deformation, false);
current.SetWasMoved(teamId, true);
if (!current.GetEnqueued(teamId))
{
vertexQueue.Enqueue(current);
current.SetEnqueued(teamId, true);
// Debug.Log("Vertex group " + current.vertexIndices[0] + " enqueued due to collision");
}
}
}
}
collision.body.position = oldPosition;
collision.body.rotation = oldRotation;
dissipationNeeded = true;
meshDeformationMarker.End();
}
}
}
// Explode the mesh at a given position, with a given force
public void ExplodeMeshAt(Vector3 pos, float force, bool addNoise = true)
{
pos = transform.InverseTransformPoint(pos);
VertexGroup closest = GetClosestVertexGroup(pos);
// Make a queue (it breadth first traversal time)
vertexQueue.Enqueue(closest);
closest.SetEnqueued(teamId, true);
// Move each vertex, making sure that it doesn't stretch too far from its neighbours
while (vertexQueue.Count > 0)
{
VertexGroup current = vertexQueue.Dequeue();
current.SetEnqueued(teamId, false);
oldEdgeSqrLengths.Clear();
for (int j = 0; j < current.connectingEdges.Count; j++)
{
oldEdgeSqrLengths.Add(current.connectingEdges[j].sqrLength);
}
// Calculate deformation vector
Vector3 deformation = current.pos - pos;
float deformationForce = force / deformation.sqrMagnitude;
if (addNoise)
{
deformationForce *= Random.value * 0.2f + 0.9f;
}
deformation.Normalize();
deformation *= Mathf.Clamp(deformationForce / vertexWeight, 0, 0.5f);
current.MoveBy(vertices, deformation, false);
for (int j = 0; j < current.connectingEdges.Count; j++)
{
VertexGroup adjacent = current.connectingEdges[j].OtherVertexGroup(current);
// Check if adjacent vertex has been moved.
if (adjacent.GetWasMoved(teamId))
{
// Get vector of edge between vertices.
Vector3 edge = current.pos - adjacent.pos;
// ohno edge too long
if (edge.sqrMagnitude > stretchiness * stretchiness * oldEdgeSqrLengths[j])
{
// make edge right length
edge.Normalize();
float randomNoise = 1;
if (addNoise)
{
randomNoise = Random.value * 0.2f + 0.9f;
}
float edgeStretchiness = stretchiness * randomNoise;
edge *= edgeStretchiness * Mathf.Sqrt(oldEdgeSqrLengths[j]);
// move vertices so edge is not too long.
current.MoveTo(vertices, adjacent.pos + edge, false);
current.connectingEdges[j].UpdateEdgeLength();
}
}
}
current.SetWasMoved(teamId, true);
// Add adjacent, unmoved vertices into the queue for traversal
for (int j = 0; j < current.connectingEdges.Count; j++)
{
// Get adjacent vertex group
VertexGroup adjacent = current.connectingEdges[j].OtherVertexGroup(current);
// Add it to the queue if it hasn't already been moved
if (!adjacent.GetEnqueued(teamId) && !adjacent.GetWasMoved(teamId))
{
vertexQueue.Enqueue(adjacent);
adjacent.SetEnqueued(teamId, true);
}
}
}
for (int i = 0; i < meshGraph.groups.Length; i++)
{
meshGraph.groups[i].SetWasMoved(teamId, false);
if (meshGraph.groups[i].GetEnqueued(teamId))
{
Debug.LogWarning("Vertex marked as still in queue.");
meshGraph.groups[i].SetEnqueued(teamId, false);
}
}
// Update the mesh
deformableMeshes[0].GetMeshFilter().mesh.SetVertices(vertices);
deformableMeshes[0].GetMeshFilter().mesh.RecalculateNormals();
}