SoftBody Init_ClusterRobot_CreateBall(Vector3 pos)
{
SoftBody psb = SoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo, pos, new Vector3(1, 1, 1) * 3, 512);
psb.Materials[0].Lst = 0.45f;
psb.Cfg.VC = 20;
psb.SetTotalMass(50, true);
psb.SetPose(true, false);
psb.GenerateClusters(1);
SoftWorld.AddSoftBody(psb);
return(psb);
}
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);
}
void InitVolume()
{
SoftBody psb = SoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo, new Vector3(35, 25, 0),
new Vector3(1, 1, 1) * 3, 512);
psb.Materials[0].Lst = 0.45f;
psb.Cfg.VC = 20;
psb.SetTotalMass(50, true);
psb.SetPose(true, false);
SoftWorld.AddSoftBody(psb);
CreateBigPlate();
CreateStairs(10, Vector3.Zero, new Vector3(2, 1, 5));
}
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);
}
/// <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);
}