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 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 InitCloth()
{
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),
31, 31,
1 + 2 + 4 + 8, true);
psb.CollisionShape.Margin = 0.5f;
Material pm = psb.AppendMaterial();
pm.Lst = 0.4f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
CreateRigidBodyStack(10);
cutting = true;
CullingEnabled = false;
}
// Aerodynamic forces, 50x1g flyers
void InitAero()
{
const float s = 2;
const int segments = 6;
const int count = 50;
Random random = new Random();
for (int i = 0; i < count; ++i)
{
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),
segments, segments, 0, true);
Material pm = psb.AppendMaterial();
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.LF = 0.004f;
psb.Cfg.DG = 0.0003f;
psb.Cfg.AeroModel = AeroModel.VTwoSided;
Matrix trans = Matrix.Identity;
Vector3 ra = 0.1f * GetRandomVector(random);
Vector3 rp = 75 * GetRandomVector(random) + new Vector3(-50, 15, 0);
Quaternion rot = Quaternion.RotationYawPitchRoll(
(float)Math.PI / 8 + ra.X, (float)-Math.PI / 7 + ra.Y, ra.Z);
trans *= Matrix.RotationQuaternion(rot);
trans *= Matrix.Translation(rp);
psb.Transform(trans);
psb.TotalMass = 0.1f;
psb.AddForce(new Vector3(0, (float)random.NextDouble(), 0), 0);
SoftWorld.AddSoftBody(psb);
}
CullingEnabled = false;
}
void Init_Collide3()
{
{
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),
15, 15, 1 + 2 + 4 + 8, true);
psb.Materials[0].Lst = 0.4f;
psb.Cfg.Collisions |= FCollisions.VFSS;
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
}
{
const float s = 4;
Vector3 o = new Vector3(5, 10, 0);
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo,
new Vector3(-s, 0, -s) + o,
new Vector3(+s, 0, -s) + o,
new Vector3(-s, 0, +s) + o,
new Vector3(+s, 0, +s) + o,
7, 7, 0, true);
Material pm = psb.AppendMaterial();
pm.Lst = 0.1f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Materials[0].Lst = 0.5f;
psb.Cfg.Collisions |= FCollisions.VFSS;
psb.TotalMass = 150;
SoftWorld.AddSoftBody(psb);
cutting = true;
}
}
SoftBody CreateFromIndexedMesh(Vector3Array vertexArray, IntArray triangleVertexIndexArray, bool createBendLinks)
{
SoftBody softBody = new SoftBody(SoftWorld.WorldInfo, vertexArray, null);
Material structuralMaterial = softBody.AppendMaterial();
Material bendMaterial;
if (createBendLinks)
{
bendMaterial = softBody.AppendMaterial();
bendMaterial.Lst = 0.7f;
}
else
{
bendMaterial = null;
}
structuralMaterial.Lst = 1.0f;
int numVertices = vertexArray.Count;
int numTriangles = triangleVertexIndexArray.Count / 3;
// List of values for each link saying which triangle is associated with that link
// -1 to start. Once a value is entered we know the "other" triangle
// and can add a link across the link
AlignedIntArray triangleForLinks = new AlignedIntArray();
triangleForLinks.Resize(numVertices * numVertices, -1);
for (int triangle = 0; triangle < numTriangles; ++triangle)
{
int[] index = new int[] { triangleVertexIndexArray[triangle * 3], triangleVertexIndexArray[triangle * 3 + 1], triangleVertexIndexArray[triangle * 3 + 2] };
softBody.AppendFace(index[0], index[1], index[2]);
// Generate the structural links directly from the triangles
TestAndAddLink(triangleForLinks, softBody, triangle, triangleVertexIndexArray, numVertices, index[0], index[1], index[2], structuralMaterial, createBendLinks, bendMaterial);
TestAndAddLink(triangleForLinks, softBody, triangle, triangleVertexIndexArray, numVertices, index[1], index[2], index[0], structuralMaterial, createBendLinks, bendMaterial);
TestAndAddLink(triangleForLinks, softBody, triangle, triangleVertexIndexArray, numVertices, index[2], index[0], index[1], structuralMaterial, createBendLinks, bendMaterial);
}
return(softBody);
}
void Init_Aero2()
{
const float s = 5;
const int segments = 10;
const int count = 5;
Vector3 pos = new Vector3(-s * segments, 0, 0);
float gap = 0.5f;
for (int i = 0; i < count; ++i)
{
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, 0, -s * 3),
new Vector3(+s, 0, -s * 3),
new Vector3(-s, 0, +s),
new Vector3(+s, 0, +s),
segments, segments * 3,
1 + 2, true);
psb.CollisionShape.Margin = 0.5f;
Material pm = psb.AppendMaterial();
pm.Lst = 0.0004f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.LF = 0.05f;
psb.Cfg.DG = 0.01f;
//psb.Cfg.LF = 0.004f;
//psb.Cfg.DG = 0.0003f;
psb.Cfg.PIterations = 2;
psb.Cfg.AeroModel = AeroModel.VTwoSidedLiftDrag;
psb.WindVelocity = new Vector3(4, -12.0f, -25.0f);
pos += new Vector3(s * 2 + gap, 0, 0);
Matrix trs = Matrix.RotationX((float)Math.PI / 2) * Matrix.Translation(pos);
psb.Transform(trs);
psb.TotalMass = 2.0f;
SoftBodyHelpers.ReoptimizeLinkOrder(psb);
SoftWorld.AddSoftBody(psb);
}
Graphics.CullingEnabled = false;
}
void InitBunny()
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, BunnyMesh.Vertices, BunnyMesh.Indices);
Material pm = psb.AppendMaterial();
pm.Lst = 0.5f;
pm.Flags -= FMaterial.DebugDraw;
psb.GenerateBendingConstraints(2, pm);
psb.Cfg.PIterations = 2;
psb.Cfg.DF = 0.5f;
psb.RandomizeConstraints();
Matrix m = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) *
Matrix.Translation(0, 4, 0);
psb.Transform(m);
psb.Scale(new Vector3(6, 6, 6));
psb.SetTotalMass(100, true);
SoftWorld.AddSoftBody(psb);
cutting = true;
}
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);
}
