void Start()
{
//Initialize mesh and state variables
MeshFilter filter = GetComponent <MeshFilter>();
bodyMesh = Instantiate(filter.mesh);
bodyMesh.MarkDynamic();
bodyVerts = bodyMesh.vertices;
kabschVerts = Array.ConvertAll(bodyVerts, (p => new Vector4(p.x, p.y, p.z, 1f)));
originalVerts = bodyMesh.vertices;
bodyTriangles = bodyMesh.triangles;
bodyNormals = bodyMesh.normals;
renderNormals = bodyMesh.normals;
prevBodyVerts = new Vector3[bodyVerts.Length];
accumulatedDisplacements = new Vector4[bodyVerts.Length];
for (int i = 0; i < bodyVerts.Length; i++)
{
prevBodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
filter.mesh = bodyMesh;
//Create Distance Constraints from Triangles in Mesh
constraints = new List <Verlet.DistConstraint>(bodyVerts.Length * 3);
Verlet.setUpConstraints(bodyMesh, constraints, false);
//Scale gravity by the size of this Mesh Renderer
scaledGravity = new Vector3(Physics.gravity.x / transform.lossyScale.x, Physics.gravity.y / transform.lossyScale.y, Physics.gravity.z / transform.lossyScale.z);
initialVolume = Verlet.VolumeOfMesh(bodyVerts, bodyTriangles);
}
public SoftbodyData(Mesh bodyMesh, Transform transform, List <Verlet.DistConstraint> constraintsList, Vector3 scaledGravity, Transform ground)
{
bodyVerts = new NativeArray <Vector3>(bodyMesh.vertices, Allocator.Persistent);
kabschVerts = new NativeArray <Vector4>(Array.ConvertAll(bodyVerts.ToArray(), (p => new Vector4(p.x, p.y, p.z, 1f))), Allocator.Persistent);
int[] triangles = bodyMesh.triangles; Vector3Int[] tris = new Vector3Int[triangles.Length / 3];
for (int i = 0; i < tris.Length; i++)
{
tris[i] = new Vector3Int(triangles[i * 3], triangles[(i * 3) + 1], triangles[(i * 3) + 2]);
}
bodyTriangles = new NativeArray <Vector3Int>(tris, Allocator.Persistent);
bodyNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
renderNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
prevBodyVerts = new NativeArray <Vector3>(new Vector3[bodyVerts.Length], Allocator.Persistent);
accumulatedDisplacements = new NativeArray <Vector4>(new Vector4[bodyVerts.Length], Allocator.Persistent);
for (int i = 0; i < bodyVerts.Length; i++)
{
prevBodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
constraintsArray = new NativeArray <Verlet.DistConstraint>(constraintsList.ToArray(), Allocator.Persistent);
dilationDistance = new NativeArray <float>(new float[1], Allocator.Persistent);
initialVolume = Verlet.VolumeOfMesh(bodyVerts, bodyTriangles);
initialSurfaceArea = 4f * 3.14159f;
previousDeltaTime = 1f;
dilationDistance[0] = 0f;
this.scaledGravity = scaledGravity;
localToWorld = transform.localToWorldMatrix;
worldToLocal = transform.worldToLocalMatrix;
groundPlanePos = ground.position;
groundPlaneNormal = -ground.forward;
}
void Update()
{
//Translate the points into world space
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
for (int i = 0; i < solverIterations; i++)
{
//First, ensure that the surface area is what we think it is
Verlet.resolveDistanceConstraints(constraints, ref bodyVerts, ref accumulatedDisplacements, 1);
//Next, set the volume of the soft body
Verlet.setVolume(inflationAmount * initialVolume, bodyVerts, bodyNormals, bodyTriangles, initialSurfaceArea, true, fastButGarbage);
}
//Also clamp to the intersection of capsules for shits
for (int j = 0; j < bodyVerts.Length; j++)
{
Vector3 capOne = Constraints.ConstrainToCapsule(bodyVerts[j], Vector3.zero, Vector3.up, 0.25f) - bodyVerts[j];
Vector3 capTwo = Constraints.ConstrainToCapsule(bodyVerts[j], Vector3.zero, Vector3.right * 1.15f, 0.25f) - bodyVerts[j];
if (capOne.sqrMagnitude < capTwo.sqrMagnitude)
{
bodyVerts[j] += capOne;
}
else
{
bodyVerts[j] += capTwo;
}
}
//Calculate the the position and rotation of the body
for (int i = 0; i < bodyVerts.Length; i++)
{
kabschVerts[i] = new Vector4(bodyVerts[i].x, bodyVerts[i].y, bodyVerts[i].z, 1f);
}
;
Matrix4x4 toWorldSpace = kabschSolver.SolveKabsch(originalVerts, Array.ConvertAll(bodyVerts, (p => (Vector4)p)));
transform.position = toWorldSpace.GetVector3();
transform.rotation = toWorldSpace.GetQuaternion();
//Move the points into local space for rendering
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.InverseTransformPoint(bodyVerts[i]);
renderNormals[i] = transform.InverseTransformDirection(bodyNormals[i]);
}
Debug.Log(Verlet.VolumeOfMesh(bodyVerts, bodyTriangles));
//Graphics
bodyMesh.vertices = bodyVerts;
bodyMesh.normals = renderNormals;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}
void Start()
{
//Initialize mesh and state variables
MeshFilter filter = GetComponent <MeshFilter>();
bodyMesh = Instantiate(filter.mesh);
bodyMesh.MarkDynamic();
bodyVerts = new NativeArray <Vector3>(bodyMesh.vertices, Allocator.Persistent);
kabschVerts = new NativeArray <Vector4>(Array.ConvertAll(bodyVerts.ToArray(), (p => new Vector4(p.x, p.y, p.z, 1f))), Allocator.Persistent);
originalVerts = bodyMesh.vertices;
int[] triangles = bodyMesh.triangles; Vector3Int[] tris = new Vector3Int[triangles.Length / 3];
for (int i = 0; i < tris.Length; i++)
{
tris[i] = new Vector3Int(triangles[i * 3], triangles[(i * 3) + 1], triangles[(i * 3) + 2]);
}
bodyTriangles = new NativeArray <Vector3Int>(tris, Allocator.Persistent);
bodyNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
renderNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
prevBodyVerts = new NativeArray <Vector3>(new Vector3[bodyVerts.Length], Allocator.Persistent);
accumulatedDisplacements = new NativeArray <Vector4>(new Vector4[bodyVerts.Length], Allocator.Persistent);
for (int i = 0; i < bodyVerts.Length; i++)
{
prevBodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
filter.mesh = bodyMesh;
renderNormalsArray = new Vector3[renderNormals.Length];
bodyVertsArray = new Vector3[bodyVerts.Length];
kabschVertsArray = new Vector4[kabschVerts.Length];
//Create Distance Constraints from Triangles in Mesh
constraintsList = new List <Verlet.DistConstraint>(bodyVerts.Length * 3);
Verlet.setUpConstraints(bodyMesh, constraintsList, false);
constraintsArray = new NativeArray <Verlet.DistConstraint>(constraintsList.ToArray(), Allocator.Persistent);
//Scale gravity by the size of this Mesh Renderer
scaledGravity = new Vector3(Physics.gravity.x / transform.lossyScale.x, Physics.gravity.y / transform.lossyScale.y, Physics.gravity.z / transform.lossyScale.z);
initialVolume = Verlet.VolumeOfMesh(bodyVerts, bodyTriangles);
optimizer.CalculateErrorDerivative = CalculateErrorDerivative;
optimizer.Add(1f, "xScale");
optimizer.Add(Vector3.up, "yBasis");
optimizer.Add(Vector3.forward, "zBasis");
}
void Start()
{
//Initialize mesh and state variables
MeshFilter filter = GetComponent <MeshFilter>();
bodyMesh = Instantiate(filter.mesh);
bodyMesh.MarkDynamic();
bodyVerts = bodyMesh.vertices;
originalVerts = bodyMesh.vertices;
bodyTriangles = bodyMesh.triangles;
bodyNormals = bodyMesh.normals;
renderNormals = bodyMesh.normals;
accumulatedDisplacements = new Vector4[bodyVerts.Length];
filter.mesh = bodyMesh;
//Create Distance Constraints from Triangles in Mesh
constraints = new List <Verlet.DistConstraint>(bodyVerts.Length * 3);
Verlet.setUpConstraints(bodyMesh, constraints, false);
initialVolume = Verlet.VolumeOfMesh(bodyVerts, bodyTriangles);
}
public SoftbodyData(Mesh bodyMesh, Transform transform, List <Verlet.DistConstraint> constraintsList, Vector3 scaledGravity, Transform ground, float radius = 1f, float friction = 0.3f)
{
bodyVerts = new NativeArray <Vector3>(bodyMesh.vertices, Allocator.Persistent);
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] *= radius;
}
preCollisionVerts = new NativeArray <Vector3>(bodyVerts, Allocator.Persistent);
kabschVerts = new NativeArray <Vector4>(Array.ConvertAll(bodyVerts.ToArray(), (p => new Vector4(p.x, p.y, p.z, 1f))), Allocator.Persistent);
int[] triangles = bodyMesh.triangles; Vector3Int[] tris = new Vector3Int[triangles.Length / 3];
for (int i = 0; i < tris.Length; i++)
{
tris[i] = new Vector3Int(triangles[i * 3], triangles[(i * 3) + 1], triangles[(i * 3) + 2]);
}
bodyTriangles = new NativeArray <Vector3Int>(tris, Allocator.Persistent);
bodyNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
renderNormals = new NativeArray <Vector3>(bodyMesh.normals, Allocator.Persistent);
prevBodyVerts = new NativeArray <Vector3>(new Vector3[bodyVerts.Length], Allocator.Persistent);
accumulatedDisplacements = new NativeArray <Vector4>(new Vector4[bodyVerts.Length], Allocator.Persistent);
for (int i = 0; i < bodyVerts.Length; i++)
{
prevBodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
raycasts = new NativeArray <RaycastCommand>(new RaycastCommand[bodyVerts.Length], Allocator.Persistent);
raycastHits = new NativeArray <RaycastHit>(new RaycastHit[bodyVerts.Length], Allocator.Persistent);
constraintsArray = new NativeArray <Verlet.DistConstraint>(constraintsList.ToArray(), Allocator.Persistent);
dilationDistance = new NativeArray <float>(new float[1], Allocator.Persistent);
triangleVolumes = new NativeArray <float>(new float[tris.Length], Allocator.Persistent);
triangleSurfaceAreas = new NativeArray <float>(new float[tris.Length], Allocator.Persistent);
volumeAccumulator = new NativeAccumulator <float, Addition>(Allocator.Persistent);
areaAccumulator = new NativeAccumulator <float, Addition>(Allocator.Persistent);
initialVolume = Verlet.VolumeOfMesh(bodyVerts, bodyTriangles);
initialSurfaceArea = Verlet.SurfaceAreaOfMesh(bodyVerts, bodyTriangles);
previousDeltaTime = 1f;
dilationDistance[0] = 0f;
this.scaledGravity = scaledGravity;
localToWorld = transform.localToWorldMatrix;
worldToLocal = transform.worldToLocalMatrix;
groundPlanePos = ground.position;
groundPlaneNormal = -ground.forward;
this.radius = radius;
this.friction = friction;
//Set up parallel normal accumulation
triangleGraph = new NativeArray <vertexTriangles>(new vertexTriangles[bodyVerts.Length], Allocator.Persistent);
for (int i = 0; i < triangleGraph.Length; i++)
{
triangleGraph[i] = new vertexTriangles(-1);
}
for (int i = 0; i < tris.Length; i++)
{
triangleGraph[tris[i].x] = triangleGraph[tris[i].x].Add(tris[i]);
triangleGraph[tris[i].y] = triangleGraph[tris[i].y].Add(tris[i]);
triangleGraph[tris[i].z] = triangleGraph[tris[i].z].Add(tris[i]);
}
//Set up parallel constraint satisfaction
connectionGraph = new NativeArray <vertexConstraints>(new vertexConstraints[bodyVerts.Length], Allocator.Persistent);
for (int i = 0; i < connectionGraph.Length; i++)
{
connectionGraph[i] = new vertexConstraints();
}
for (int i = 0; i < constraintsArray.Length; i++)
{
Verlet.DistConstraint constraint = constraintsArray[i];
connectionGraph[constraint.index1] = connectionGraph[constraint.index1].Add(constraint);
int temp = constraint.index1; constraint.index1 = constraint.index2; constraint.index2 = temp;
connectionGraph[constraint.index1] = connectionGraph[constraint.index1].Add(constraint);
}
}
