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 Update()
{
//Translate the points into world space
for (int i = 0; i < bodyVerts.Length; i++)
{
bodyVerts[i] = transform.TransformPoint(bodyVerts[i]);
}
//Physics
float currentDeltaTime = Mathf.Clamp(Time.deltaTime, 0.01f, previousDeltaTime * 1.4f);
Verlet.Integrate(bodyVerts, prevBodyVerts, scaledGravity, currentDeltaTime, previousDeltaTime);
previousDeltaTime = currentDeltaTime;
//Anchor a point on the body
if (anchor != null && anchor.gameObject.activeInHierarchy)
{
bodyVerts[0] = prevBodyVerts[0] = anchor.position;
}
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 sneak in a ground plane here:
Vector3 groundPlanePos = groundPlane.position;
Vector3 groundPlaneNormal = -groundPlane.forward;
for (int j = 0; j < bodyVerts.Length; j++)
{
if (Vector3.Dot(bodyVerts[j] - groundPlanePos, groundPlaneNormal) < 0f)
{
bodyVerts[j] = Vector3.ProjectOnPlane(bodyVerts[j] - groundPlanePos, groundPlaneNormal) + groundPlanePos;
bodyVerts[j] -= Vector3.ProjectOnPlane(bodyVerts[j] - prevBodyVerts[j], groundPlaneNormal) * 0.3f;
}
}
//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, kabschVerts, transformFollowsRotation);
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]);
}
//Graphics
bodyMesh.vertices = bodyVerts;
bodyMesh.normals = renderNormals;
bodyMesh.RecalculateBounds();
bodyMesh.UploadMeshData(false);
}
