internal void Init(List <Tuple <PotentialBase, RigidQuadrupletType> > pot_rigids_pairs)
{
enabled = true;
m_PotentialRigidbodiesPairs = pot_rigids_pairs;
// setting ignore collision
foreach (Tuple <PotentialBase, RigidQuadrupletType> pot_rigids_pair in m_PotentialRigidbodiesPairs)
{
RigidQuadrupletType rigid_quadruplet = pot_rigids_pair.Item2;
Collider collider_i = rigid_quadruplet.Item1.GetComponent <Collider>();
Collider collider_l = rigid_quadruplet.Item4.GetComponent <Collider>();
Physics.IgnoreCollision(collider_i, collider_l);
}
}
private void FixedUpdate()
{
foreach (Tuple <PotentialBase, RigidQuadrupletType> pot_rigids_pair in m_PotentialRigidbodiesPairs)
{
PotentialBase potential = pot_rigids_pair.Item1;
RigidQuadrupletType rigid_quadruplet = pot_rigids_pair.Item2;
Rigidbody rigid_i = rigid_quadruplet.Item1;
Rigidbody rigid_j = rigid_quadruplet.Item2;
Rigidbody rigid_k = rigid_quadruplet.Item3;
Rigidbody rigid_l = rigid_quadruplet.Item4;
Vector3 r_ji = rigid_i.position - rigid_j.position;
Vector3 r_jk = rigid_k.position - rigid_j.position;
Vector3 r_kj = -r_jk;
Vector3 r_lk = rigid_k.position - rigid_l.position;
Vector3 m = Vector3.Cross(r_ji, r_jk);
Vector3 n = Vector3.Cross(r_jk, r_lk);
float m_len = m.magnitude;
float n_len = n.magnitude;
float r_jk_len = r_jk.magnitude;
float r_jk_rlensq = 1.0f / (r_jk_len * r_jk_len);
float cos_phi = Mathf.Clamp(Vector3.Dot(m, n) / (m_len * n_len), -1.0f, 1.0f);
float phi = Mathf.Sign(Vector3.Dot(r_ji, n)) * Mathf.Acos(cos_phi);
float coef = potential.Derivative(phi);
Vector3 Fi = coef * r_jk_len / (m_len * m_len) * m;
Vector3 Fl = -coef * r_jk_len / (n_len * n_len) * n;
float coef_ijk = Vector3.Dot(r_ji, r_jk) * r_jk_rlensq;
float coef_jkl = Vector3.Dot(r_lk, r_jk) * r_jk_rlensq;
rigid_i.AddForce(Fi);
rigid_j.AddForce((coef_ijk - 1.0f) * Fi - coef_jkl * Fl);
rigid_k.AddForce((coef_jkl - 1.0f) * Fl - coef_ijk * Fi);
rigid_l.AddForce(Fl);
}
}
// This method generate InteractionManager for local of SceneBuilder by side effect.
internal void GenerateLocalInteractionManagers(
GameObject scene_builder, List <GameObject> base_particles, float timescale)
{
List <TomlTable> local_ffs = ForceFieldTable.Get <List <TomlTable> >("local");
foreach (TomlTable local_ff in local_ffs)
{
string interaction = local_ff.Get <string>("interaction");
string potential_str = local_ff.Get <string>("potential");
if (interaction == "BondLength")
{
var parameters = local_ff.Get <List <TomlTable> >("parameters");
var pot_rigids_pairs = new List <Tuple <PotentialBase, RigidPairType> >();
if (potential_str == "Harmonic")
{
foreach (TomlTable parameter in parameters)
{
var v0 = parameter.Get <float>("v0");
var k = parameter.Get <float>("k");
var potential = new HarmonicPotential(v0, k, timescale);
List <int> indices = parameter.Get <List <int> >("indices");
Assert.AreEqual(indices.Count, 2,
"The length of indices must be 2.");
var rigid1 = base_particles[indices[0]].GetComponent <Rigidbody>();
var rigid2 = base_particles[indices[1]].GetComponent <Rigidbody>();
var rigid_pair = new RigidPairType(rigid1, rigid2);
pot_rigids_pairs.Add(new Tuple <PotentialBase, RigidPairType>(potential, rigid_pair));
}
}
else if (potential_str == "GoContact")
{
foreach (TomlTable parameter in parameters)
{
var v0 = parameter.Get <float>("v0");
var k = parameter.Get <float>("k");
var potential = new GoContactPotential(v0, k, timescale);
List <int> indices = parameter.Get <List <int> >("indices");
Assert.AreEqual(indices.Count, 2,
"The length of indices must be 2.");
var rigid1 = base_particles[indices[0]].GetComponent <Rigidbody>();
var rigid2 = base_particles[indices[1]].GetComponent <Rigidbody>();
var rigid_pair = new RigidPairType(rigid1, rigid2);
pot_rigids_pairs.Add(new Tuple <PotentialBase, RigidPairType>(potential, rigid_pair));
}
}
BondLengthInteractionManager bli_manager
= scene_builder.AddComponent <BondLengthInteractionManager>() as BondLengthInteractionManager;
bli_manager.Init(pot_rigids_pairs);
string potential_name = bli_manager.PotentialName();
Debug.Log($"BondLengthInteraction with {potential_name} initialization finished.");
}
else if (interaction == "BondAngle")
{
var parameters = local_ff.Get <List <TomlTable> >("parameters");
var pot_rigids_pairs = new List <Tuple <PotentialBase, RigidTripletType> >();
if (potential_str == "Harmonic")
{
foreach (TomlTable parameter in parameters)
{
var v0 = parameter.Get <float>("v0");
var k = parameter.Get <float>("k");
var potential = new HarmonicPotential(v0, k, timescale);
List <int> indices = parameter.Get <List <int> >("indices");
Assert.AreEqual(indices.Count, 3,
"The length of indices must be 3.");
var rigid_i = base_particles[indices[0]].GetComponent <Rigidbody>();
var rigid_j = base_particles[indices[1]].GetComponent <Rigidbody>();
var rigid_k = base_particles[indices[2]].GetComponent <Rigidbody>();
var rigid_triplets = new RigidTripletType(rigid_i, rigid_j, rigid_k);
pot_rigids_pairs.Add(new Tuple <PotentialBase, RigidTripletType>(potential, rigid_triplets));
}
}
BondAngleInteractionManager bai_manager =
scene_builder.AddComponent <BondAngleInteractionManager>() as BondAngleInteractionManager;
bai_manager.Init(pot_rigids_pairs);
string potential_name = bai_manager.PotentialName();
Debug.Log($"BondAngleInteraciton with {potential_name} initialization finished.");
}
else if (interaction == "DihedralAngle")
{
var parameters = local_ff.Get <List <TomlTable> >("parameters");
var pot_rigids_pairs = new List <Tuple <PotentialBase, RigidQuadrupletType> >();
if (potential_str == "ClementiDihedral")
{
foreach (TomlTable parameter in parameters)
{
var v0 = parameter.Get <float>("v0");
var k1 = parameter.Get <float>("k1");
var k3 = parameter.Get <float>("k3");
var potential = new ClementiDihedralPotential(v0, k1, k3, timescale);
List <int> indices = parameter.Get <List <int> >("indices");
Assert.AreEqual(indices.Count, 4,
"The length of indices must be 4.");
var rigid_i = base_particles[indices[0]].GetComponent <Rigidbody>();
var rigid_j = base_particles[indices[1]].GetComponent <Rigidbody>();
var rigid_k = base_particles[indices[2]].GetComponent <Rigidbody>();
var rigid_l = base_particles[indices[3]].GetComponent <Rigidbody>();
var rigid_quadruplet = new RigidQuadrupletType(rigid_i, rigid_j, rigid_k, rigid_l);
pot_rigids_pairs.Add(
new Tuple <PotentialBase, RigidQuadrupletType>(potential, rigid_quadruplet));
}
}
DihedralAngleInteractionManager dai_manager =
scene_builder.AddComponent <DihedralAngleInteractionManager>() as DihedralAngleInteractionManager;
dai_manager.Init(pot_rigids_pairs);
string potential_name = dai_manager.PotentialName();
Debug.Log($"DihedralAngleInteraction with {potential_name} initialization finished");
}
else
{
Debug.LogWarning($@"
Unknown combination of local interaction {interaction} and forcefields {potential_str} is specified.
This table will be ignored.
Available combination is
- Interaction: BondLength, Potential: Harmonic
- Interaction: BondLength, Potential: GoContact
- Interaction: BondAngle, Potential: Harmonic
- Interaction: DihedralAngle, Potential: ClementiDihedral");
}
}
}