public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiAerodynamicConstraintsBatch;
var user = actor as IAerodynamicConstraintsUser;
if (batch != null && user != null)
{
if (!user.aerodynamicsEnabled)
{
return;
}
particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
aerodynamicCoeffs.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3] = batch.aerodynamicCoeffs[i * 3];
aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 1] = user.drag;
aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 2] = user.lift;
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiSkinConstraintsBatch;
if (batch != null)
{
particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
skinPoints.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
skinNormals.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
skinRadiiBackstop.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
skinCompliance.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
skinPoints.CopyFrom(batch.skinPoints, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
skinNormals.CopyFrom(batch.skinNormals, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
skinCompliance.CopyFrom(batch.skinCompliance, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
skinRadiiBackstop.CopyFrom(batch.skinRadiiBackstop, 0, m_ActiveConstraintCount * 3, batch.activeConstraintCount * 3);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiBendConstraintsBatch;
var user = actor as IBendConstraintsUser;
if (batch != null && user != null)
{
if (!user.bendConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
restBends.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
bendingStiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restBends.CopyFrom(batch.restBends, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
bendingStiffnesses.CopyReplicate(new Vector2(user.maxBending, user.bendCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
plasticity.CopyReplicate(new Vector2(user.plasticYield, user.plasticCreep), m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 3; ++i)
{
particleIndices[m_ActiveConstraintCount * 3 + i] = actor.solverIndices[batch.particleIndices[i]];
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiPinConstraintsBatch;
if (batch != null)
{
particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i];
colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiDistanceConstraintsBatch;
var user = actor as IDistanceConstraintsUser;
if (batch != null && user != null)
{
if (!user.distanceConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
{
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
float restLength = batch.restLengths[i] * user.stretchingScale;
restLengths[m_ActiveConstraintCount + i] = restLength; // TODO: use nativelist methods?
stiffnesses[m_ActiveConstraintCount + i] = new Vector2(user.stretchCompliance, user.maxCompression * restLength);
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiTetherConstraintsBatch;
var user = actor as ITetherConstraintsUser;
if (batch != null && user != null)
{
if (!user.tetherConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
maxLengthsScales.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
stiffnesses.CopyReplicate(user.tetherCompliance, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
{
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
maxLengthsScales[m_ActiveConstraintCount + i] = new Vector2(batch.maxLengthsScales[i].x, user.tetherScale);
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiShapeMatchingConstraintsBatch;
var user = actor as IShapeMatchingConstraintsUser;
if (batch != null && user != null)
{
if (!user.shapeMatchingConstraintsEnabled)
{
return;
}
int initialIndexCount = particleIndices.count;
// shape matching constraint particle indices are not reordered when deactivating constraints,
// so instead of using batch.activeConstraintCount, batch.constraintCount. We need all of them.
int numActiveIndices = 0;
for (int i = 0; i < batch.constraintCount; ++i)
{
numActiveIndices += batch.numIndices[i];
}
particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
firstIndex.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
numIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
explicitGroup.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
materialParameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
restComs.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
coms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
orientations.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
numIndices.CopyFrom(batch.numIndices, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
explicitGroup.CopyFrom(batch.explicitGroup, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
orientations.CopyReplicate(actor.actorLocalToSolverMatrix.rotation, m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < numActiveIndices; ++i)
{
particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
firstIndex[m_ActiveConstraintCount + i] = batch.firstIndex[i] + initialIndexCount;
materialParameters[(m_ActiveConstraintCount + i) * 5] = user.deformationResistance;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 1] = user.plasticYield;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 2] = user.plasticCreep;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 3] = user.plasticRecovery;
materialParameters[(m_ActiveConstraintCount + i) * 5 + 4] = user.maxDeformation;
}
base.Merge(actor, other);
}
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiVolumeConstraintsBatch;
var user = actor as IVolumeConstraintsUser;
if (batch != null && user != null)
{
if (!user.volumeConstraintsEnabled)
{
return;
}
int initialIndexCount = particleIndices.count;
int numActiveTriangles = 0;
for (int i = 0; i < batch.constraintCount; ++i)
{
numActiveTriangles += batch.numTriangles[i];
}
particleIndices.ResizeUninitialized(initialIndexCount + numActiveTriangles * 3);
firstTriangle.ResizeUninitialized(firstTriangle.count + batch.activeConstraintCount);
numTriangles.ResizeUninitialized(numTriangles.count + batch.activeConstraintCount);
restVolumes.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
pressureStiffness.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
numTriangles.CopyFrom(batch.numTriangles, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restVolumes.CopyFrom(batch.restVolumes, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
pressureStiffness.CopyReplicate(new Vector2(user.pressure, user.compressionCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < numActiveTriangles * 3; ++i)
{
particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount + 1; ++i)
{
firstTriangle[m_ActiveConstraintCount + i] = initialIndexCount / 3 + batch.firstTriangle[i];
}
base.Merge(actor, other);
}
}
public void PushDataToSolver()
{
if (!inSolver)
{
return;
}
// set solver constraint data:
particleIndices.ResizeUninitialized(stitches.Count * 2);
stiffnesses.ResizeUninitialized(stitches.Count);
for (int i = 0; i < stitches.Count; i++)
{
particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1];
particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2];
stiffnesses[i] = 0;
}
Oni.SetStitchConstraints(batch, particleIndices.GetIntPtr(), stiffnesses.GetIntPtr(), stitches.Count);
Oni.SetActiveConstraints(batch, stitches.Count);
}
public void PushDataToSolver()
{
if (!inSolver)
{
return;
}
// set solver constraint data:
lambdas.Clear();
particleIndices.ResizeUninitialized(stitches.Count * 2);
stiffnesses.ResizeUninitialized(stitches.Count);
lambdas.ResizeUninitialized(stitches.Count);
for (int i = 0; i < stitches.Count; i++)
{
particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1];
particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2];
stiffnesses[i] = 0;
lambdas[i] = 0;
}
m_BatchImpl.SetStitchConstraints(particleIndices, stiffnesses, lambdas, stitches.Count);
}
public override void Merge(ObiActor actor, IObiConstraintsBatch other)
{
var batch = other as ObiStretchShearConstraintsBatch;
var user = actor as IStretchShearConstraintsUser;
if (batch != null && user != null)
{
if (!user.stretchShearConstraintsEnabled)
{
return;
}
particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount);
stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
stiffnesses.CopyReplicate(new Vector3(user.stretchCompliance, user.shear1Compliance, user.shear2Compliance), m_ActiveConstraintCount, batch.activeConstraintCount);
for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
{
particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
}
for (int i = 0; i < batch.activeConstraintCount; ++i)
{
orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]];
}
base.Merge(actor, other);
}
}