public override void Merge(ObiActor actor, IObiConstraintsBatch other) { var batch = other as ObiPinConstraintsBatch; if (batch != null) { particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2); breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4); offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount); restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount); stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2); breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount); for (int i = 0; i < batch.activeConstraintCount; ++i) { particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i]; colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1; } base.Merge(actor, other); } }
public override void Merge(ObiActor actor, IObiConstraintsBatch other) { var batch = other as ObiShapeMatchingConstraintsBatch; var user = actor as IShapeMatchingConstraintsUser; if (batch != null && user != null) { if (!user.shapeMatchingConstraintsEnabled) { return; } int initialIndexCount = particleIndices.count; // shape matching constraint particle indices are not reordered when deactivating constraints, // so instead of using batch.activeConstraintCount, batch.constraintCount. We need all of them. int numActiveIndices = 0; for (int i = 0; i < batch.constraintCount; ++i) { numActiveIndices += batch.numIndices[i]; } particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices); firstIndex.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); numIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); explicitGroup.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); materialParameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5); restComs.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); coms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); orientations.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount); numIndices.CopyFrom(batch.numIndices, 0, m_ActiveConstraintCount, batch.activeConstraintCount); explicitGroup.CopyFrom(batch.explicitGroup, 0, m_ActiveConstraintCount, batch.activeConstraintCount); orientations.CopyReplicate(actor.actorLocalToSolverMatrix.rotation, m_ActiveConstraintCount, batch.activeConstraintCount); for (int i = 0; i < numActiveIndices; ++i) { particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]]; } for (int i = 0; i < batch.activeConstraintCount; ++i) { firstIndex[m_ActiveConstraintCount + i] = batch.firstIndex[i] + initialIndexCount; materialParameters[(m_ActiveConstraintCount + i) * 5] = user.deformationResistance; materialParameters[(m_ActiveConstraintCount + i) * 5 + 1] = user.plasticYield; materialParameters[(m_ActiveConstraintCount + i) * 5 + 2] = user.plasticCreep; materialParameters[(m_ActiveConstraintCount + i) * 5 + 3] = user.plasticRecovery; materialParameters[(m_ActiveConstraintCount + i) * 5 + 4] = user.maxDeformation; } base.Merge(actor, other); } }
public override void Merge(ObiActor actor, IObiConstraintsBatch other) { var batch = other as ObiVolumeConstraintsBatch; var user = actor as IVolumeConstraintsUser; if (batch != null && user != null) { if (!user.volumeConstraintsEnabled) { return; } int initialIndexCount = particleIndices.count; int numActiveTriangles = 0; for (int i = 0; i < batch.constraintCount; ++i) { numActiveTriangles += batch.numTriangles[i]; } particleIndices.ResizeUninitialized(initialIndexCount + numActiveTriangles * 3); firstTriangle.ResizeUninitialized(firstTriangle.count + batch.activeConstraintCount); numTriangles.ResizeUninitialized(numTriangles.count + batch.activeConstraintCount); restVolumes.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); pressureStiffness.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount); numTriangles.CopyFrom(batch.numTriangles, 0, m_ActiveConstraintCount, batch.activeConstraintCount); restVolumes.CopyFrom(batch.restVolumes, 0, m_ActiveConstraintCount, batch.activeConstraintCount); pressureStiffness.CopyReplicate(new Vector2(user.pressure, user.compressionCompliance), m_ActiveConstraintCount, batch.activeConstraintCount); for (int i = 0; i < numActiveTriangles * 3; ++i) { particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]]; } for (int i = 0; i < batch.activeConstraintCount + 1; ++i) { firstTriangle[m_ActiveConstraintCount + i] = initialIndexCount / 3 + batch.firstTriangle[i]; } base.Merge(actor, other); } }
public override void Merge(ObiActor actor, IObiConstraintsBatch other) { var batch = other as ObiChainConstraintsBatch; var user = actor as IChainConstraintsUser; if (batch != null && user != null) { if (!user.chainConstraintsEnabled) { return; } int initialIndexCount = particleIndices.count; int numActiveIndices = 0; for (int i = 0; i < batch.activeConstraintCount; ++i) { numActiveIndices += batch.numParticles[i]; } particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices); firstParticle.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); numParticles.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount); numParticles.CopyFrom(batch.numParticles, 0, m_ActiveConstraintCount, batch.activeConstraintCount); for (int i = 0; i < numActiveIndices; ++i) { particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]]; } for (int i = 0; i < batch.activeConstraintCount; ++i) { firstParticle[m_ActiveConstraintCount + i] = batch.firstParticle[i] + initialIndexCount; lengths[m_ActiveConstraintCount + i] = new Vector2(batch.lengths[i].y * user.tightness, batch.lengths[i].y); } base.Merge(actor, other); } }
public void PushDataToSolver() { if (!inSolver) { return; } // set solver constraint data: particleIndices.ResizeUninitialized(stitches.Count * 2); stiffnesses.ResizeUninitialized(stitches.Count); for (int i = 0; i < stitches.Count; i++) { particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1]; particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2]; stiffnesses[i] = 0; } Oni.SetStitchConstraints(batch, particleIndices.GetIntPtr(), stiffnesses.GetIntPtr(), stitches.Count); Oni.SetActiveConstraints(batch, stitches.Count); }
public void PushDataToSolver() { if (!inSolver) { return; } // set solver constraint data: lambdas.Clear(); particleIndices.ResizeUninitialized(stitches.Count * 2); stiffnesses.ResizeUninitialized(stitches.Count); lambdas.ResizeUninitialized(stitches.Count); for (int i = 0; i < stitches.Count; i++) { particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1]; particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2]; stiffnesses[i] = 0; lambdas[i] = 0; } m_BatchImpl.SetStitchConstraints(particleIndices, stiffnesses, lambdas, stitches.Count); }
public override void Merge(ObiActor actor, IObiConstraintsBatch other) { var batch = other as ObiStretchShearConstraintsBatch; var user = actor as IStretchShearConstraintsUser; if (batch != null && user != null) { if (!user.stretchShearConstraintsEnabled) { return; } particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2); orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount); stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount); lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3); restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount); restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount); stiffnesses.CopyReplicate(new Vector3(user.stretchCompliance, user.shear1Compliance, user.shear2Compliance), m_ActiveConstraintCount, batch.activeConstraintCount); for (int i = 0; i < batch.activeConstraintCount * 2; ++i) { particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]]; } for (int i = 0; i < batch.activeConstraintCount; ++i) { orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]]; } base.Merge(actor, other); } }