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 InitSticks()
{
const int n = 16;
const int sg = 4;
const float sz = 5;
const float hg = 4;
const float inf = 1 / (float)(n - 1);
for (int y = 0; y < n; ++y)
{
for (int x = 0; x < n; ++x)
{
Vector3 org = new Vector3(-sz + sz * 2 * x * inf,
-10, -sz + sz * 2 * y * inf);
SoftBody psb = SoftBodyHelpers.CreateRope(softBodyWorldInfo, org,
org + new Vector3(hg * 0.001f, hg, 0), sg, 1);
psb.Cfg.DP = 0.005f;
psb.Cfg.Chr = 0.1f;
for (int i = 0; i < 3; ++i)
{
psb.GenerateBendingConstraints(2 + i);
}
psb.SetMass(1, 0);
psb.SetTotalMass(0.01f);
SoftWorld.AddSoftBody(psb);
}
}
CreateBigBall(new Vector3(0, 13, 0));
}
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;
}
protected void SetConfig(SoftBody sb)
{
sb.Cfg.AeroModel = this.AeroModel;
sb.Cfg.DF = this.DynamicFrictionCoefficient;
sb.Cfg.DP = this.DampingCoefficient;
sb.Cfg.PR = this.PressureCoefficient;
sb.Cfg.LF = this.LiftCoefficient;
sb.Cfg.VC = this.VolumeConservation;
sb.Cfg.Collisions |= FCollisions.VFSS;
sb.Cfg.Chr = this.RigidContactHardness;
sb.Cfg.Shr = this.SoftContactHardness;
sb.Cfg.DG = this.DragCoefficient;
sb.Cfg.Ahr = this.AnchorHardness;
if (this.IsVolumeMass)
{
sb.SetVolumeMass(this.Mass);
}
else
{
sb.SetTotalMass(this.Mass, false);
}
if (this.GenerateBendingConstraints)
{
sb.GenerateBendingConstraints(this.BendingDistance);
}
}
// 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;
}
}
/// <summary>
/// Apply these SoftBody settings to this SoftBody
/// </summary>
/// <param name="softBody"></param>
public void ConfigureSoftBody(SoftBody softBody)
{
softBody.Scale(scale.ToBullet());
BulletSharp.SoftBody.Material pm = softBody.Materials[0];
sBMaterial.SetSBMaterial(pm);
config.CopyToBulletSBConfig(softBody.Cfg);
if (allNodeBendingConstraints)
{
for (int i = 0; i < softBody.Nodes.Count - 1; ++i)
{
softBody.GenerateBendingConstraints(1 + i);
}
}
else
{
softBody.GenerateBendingConstraints(bendingConstraintDistance, pm);
}
if (randomizeConstraints)
{
softBody.RandomizeConstraints();
}
if (generateClusters)
{
softBody.GenerateClusters(0);
}
softBody.SetTotalMass(totalMass, fromFaces);
softBody.SetPose(bvolume, bframe);
}
void InitTorus()
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
psb.GenerateBendingConstraints(2);
psb.Cfg.PIterations = 2;
psb.RandomizeConstraints();
Matrix m = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) *
Matrix.Translation(0, 4, 0);
psb.Transform(m);
psb.Scale(new Vector3(2, 2, 2));
psb.SetTotalMass(50, true);
SoftWorld.AddSoftBody(psb);
cutting = true;
}
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 InitCollide()
{
for (int i = 0; i < 3; ++i)
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
psb.GenerateBendingConstraints(2);
psb.Cfg.PIterations = 2;
psb.Cfg.Collisions |= FCollisions.VFSS;
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);
SoftWorld.AddSoftBody(psb);
}
cutting = true;
}
SoftBody CreateSoftBoulder(Vector3 p, Vector3 s, int np)
{
Random random = new Random();
Vector3[] pts = new Vector3[np];
for (int i = 0; i < np; ++i)
{
pts[i] = GetRandomVector(random) * s;
}
SoftBody psb = SoftBodyHelpers.CreateFromConvexHull(softBodyWorldInfo, pts);
psb.GenerateBendingConstraints(2);
psb.Translate(p);
SoftWorld.AddSoftBody(psb);
return(psb);
}
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);
}
SoftBody Create_SoftBox(Vector3 p, Vector3 s)
{
Vector3 h = s * 0.5f;
Vector3[] c = new Vector3[] {
h *new Vector3(-1, -1, -1),
h *new Vector3(+1, -1, -1),
h *new Vector3(-1, +1, -1),
h *new Vector3(+1, +1, -1),
h *new Vector3(-1, -1, +1),
h *new Vector3(+1, -1, +1),
h *new Vector3(-1, +1, +1),
h *new Vector3(+1, +1, +1)
};
SoftBody psb = SoftBodyHelpers.CreateFromConvexHull(softBodyWorldInfo, c);
psb.GenerateBendingConstraints(2);
psb.Translate(p);
SoftWorld.AddSoftBody(psb);
return(psb);
}
