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);
}
}
internal override bool _BuildCollisionObject()
{
Mesh mesh = meshSettings.Build();
GetComponent <MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = mesh.vertices[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
void InitTetraCube()
{
string path = System.IO.Path.GetDirectoryName(Application.ExecutablePath);
SoftBody psb = SoftBodyHelpers.CreateFromTetGenFile(softBodyWorldInfo,
path + "\\data\\cube.ele", null, path + "\\data\\cube.node", false, true, true);
SoftWorld.AddSoftBody(psb);
psb.Scale(new Vector3(4, 4, 4));
psb.Translate(0, 5, 0);
psb.SetVolumeMass(300);
// fix one vertex
//psb.SetMass(0,0);
//psb.SetMass(10,0);
//psb.SetMass(20,0);
psb.Cfg.PIterations = 1;
//psb.GenerateClusters(128);
psb.GenerateClusters(16);
//psb.CollisionShape.Margin = 0.5f;
psb.CollisionShape.Margin = 0.01f;
psb.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
// | FCollisions.CLSelf;
psb.Materials[0].Lst = 0.8f;
cutting = false;
CullingEnabled = false;
}
internal override bool _BuildCollisionObject()
{
//Mesh mesh = new Mesh();
//GetComponent<MeshFilter>().sharedMesh = mesh;
//convert the mesh data to Bullet data and create DoftBody
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[actuallyverts.Count];
for (int i = 0; i < actuallyverts.Count; i++)
{
bVerts[i] = actuallyverts[i].ToBullet();
}
SoftBody m_BSoftBody = CreateVolumetricSoftbody(World.WorldInfo, bVerts);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(transform.rotation.ToBullet());
m_BSoftBody.Translate(transform.position.ToBullet());
m_BSoftBody.Scale(transform.localScale.ToBullet());
return(true);
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected && this.FShapes.PluginIO.IsConnected)
{
List <SoftBody> bodies = new List <SoftBody>();
for (int i = 0; i < SpreadMax; i++)
{
if (FDoCreate[i])
{
AbstractSoftShapeDefinition shapedef = this.FShapes[i];
SoftBody body = shapedef.GetSoftBody(this.FWorld[0].WorldInfo);
body.Translate(this.FPosition[i].ToBulletVector());
body.Scale(this.FScale[i].ToBulletVector());
body.Rotate(this.FRotate[i].ToBulletQuaternion());
body.Friction = this.FFriction[i];
body.Restitution = this.FRestitution[i];
SoftBodyCustomData bd = new SoftBodyCustomData();
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
bd.HasUV = shapedef.HasUV;
bd.UV = shapedef.GetUV(body);
body.UserObject = bd;
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
bodies.Add(body);
}
}
this.FOutBodies.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
this.FOutBodies[i] = bodies[i];
}
}
else
{
this.FOutBodies.SliceCount = 0;
}
}
void InitBunnyMatch()
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, BunnyMesh.Vertices, BunnyMesh.Indices);
psb.Cfg.DF = 0.5f;
psb.Cfg.MT = 0.05f;
psb.Cfg.PIterations = 5;
psb.RandomizeConstraints();
psb.Scale(new Vector3(6, 6, 6));
psb.SetTotalMass(100, true);
psb.SetPose(false, true);
SoftWorld.AddSoftBody(psb);
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected && this.FShapes.PluginIO.IsConnected)
{
List <SoftBody> bodies = new List <SoftBody>();
for (int i = 0; i < SpreadMax; i++)
{
if (FDoCreate[i])
{
AbstractSoftShapeDefinition shapedef = this.FShapes[i];
SoftBody body = shapedef.GetSoftBody(this.FWorld[0].WorldInfo);
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
body.Translate(pose.Position);
body.Scale(this.FScale[i].ToBulletVector());
body.Rotate(pose.Orientation);
body.Friction = this.FFriction[i];
body.Restitution = this.FRestitution[i];
SoftBodyCustomData bd = new SoftBodyCustomData(this.FWorld[0].GetNewSoftBodyId());
bd.Custom = this.FCustom[i];
bd.HasUV = shapedef.HasUV;
bd.UV = shapedef.GetUV(body);
bd.Definition = shapedef;
body.UserObject = bd;
this.FWorld[0].Register(body);
bodies.Add(body);
//Attach if to all nodes
for (int j = 0; j < body.Nodes.Count; j++)
{
body.Nodes[j].Tag = (IntPtr)j;
}
}
}
this.FOutBodies.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
this.FOutBodies[i] = bodies[i];
}
}
else
{
this.FOutBodies.SliceCount = 0;
}
}
void InitTorusMatch()
{
SoftBody psb = SoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo, TorusMesh.Vertices, TorusMesh.Indices);
psb.Materials[0].Lst = 0.1f;
psb.Cfg.MT = 0.05f;
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);
psb.SetPose(false, true);
SoftWorld.AddSoftBody(psb);
}
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 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;
}
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);
}
/// <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);
}
internal override bool _BuildCollisionObject()
{
if (World == null)
{
return(false);
}
if (transform.localScale != Vector3.one)
{
Debug.LogError("The scale must be 1,1,1");
}
if (bone2idxMap == null || bone2idxMap.Length == 0)
{
Debug.LogError("No bones have been mapped to soft body nodes for object " + name);
}
for (int i = 0; i < anchors.Length; i++)
{
if (anchors[i].anchorRigidBody == null)
{
Debug.LogError("No anchor rigid body has been set for anchor " + i);
}
if (anchors[i].anchorNodeIndexes == null || anchors[i].anchorNodeIndexes.Count == 0)
{
Debug.LogError("No nodes have been identified as anchors. Soft body will not be attached to RigidBody anchor " + anchors[i].anchorRigidBody);
}
}
if (physicsSimMesh == null)
{
physicsSimMesh = GetComponent <MeshFilter>();
}
Mesh mesh = physicsSimMesh.sharedMesh;
//convert the mesh data to Bullet data and create DoftBody
//todo should these be in world coordinates
BulletSharp.Math.Vector3[] bVerts = new BulletSharp.Math.Vector3[mesh.vertexCount];
Vector3[] verts = mesh.vertices;
for (int i = 0; i < mesh.vertexCount; i++)
{
bVerts[i] = verts[i].ToBullet();
}
SoftBody m_BSoftBody = SoftBodyHelpers.CreateFromTriMesh(World.WorldInfo, bVerts, mesh.triangles);
m_collisionObject = m_BSoftBody;
SoftBodySettings.ConfigureSoftBody(m_BSoftBody); //Set SB settings
//Set SB position to GO position
m_BSoftBody.Rotate(physicsSimMesh.transform.rotation.ToBullet());
m_BSoftBody.Translate(physicsSimMesh.transform.position.ToBullet());
m_BSoftBody.Scale(physicsSimMesh.transform.localScale.ToBullet());
for (int i = 0; i < anchors.Length; i++)
{
BAnchor a = anchors[i];
for (int j = 0; j < a.anchorNodeIndexes.Count; j++)
{
m_BSoftBody.AppendAnchor(a.anchorNodeIndexes[j], (RigidBody)a.anchorRigidBody.GetCollisionObject(), false, a.anchorNodeStrength[j]);
}
}
MeshRenderer mr = physicsSimMesh.GetComponent <MeshRenderer>();
if (mr != null)
{
if (debugDisplaySimulatedMesh)
{
mr.enabled = true;
}
else
{
mr.enabled = false;
}
}
if (norms.Length == 0 || norms.Length != verts.Length)
{
norms = new Vector3[m_BSoftBody.Nodes.Count];
verts = new Vector3[m_BSoftBody.Nodes.Count];
}
for (int i = 0; i < m_BSoftBody.Nodes.Count; i++)
{
norms[i] = m_BSoftBody.Nodes[i].Normal.ToUnity();
verts[i] = m_BSoftBody.Nodes[i].Position.ToUnity();
}
for (int i = 0; i < bone2idxMap.Length; i++)
{
bone2idxMap[i].bindNormal = norms[bone2idxMap[i].nodeIdx];
bone2idxMap[i].bindBoneRotation = bone2idxMap[i].bone.rotation;
for (int j = 0; j < bone2idxMap[i].edges.Length; j++)
{
bone2idxMap[i].edges[j].bindEdgeXnorm = Vector3.Cross(verts[bone2idxMap[i].edges[j].nodeIdx] - verts[bone2idxMap[i].nodeIdx], norms[bone2idxMap[i].nodeIdx]).normalized;
}
}
return(true);
}
