void LateUpdate()
{
if (!isActiveAndEnabled || actor.solver == null)
{
return;
}
for (int i = 0; i < actor.solverIndices.Length; ++i)
{
int k = actor.solverIndices[i];
int phase = ObiUtils.GetGroupFromPhase(actor.solver.phases[k]);
actor.solver.colors[k] = ObiUtils.colorAlphabet[phase % ObiUtils.colorAlphabet.Length];
}
}
public override void SetSelfCollisions(bool selfCollisions)
{
if (solver != null && isLoaded)
{
Oni.ParticleFlags particlePhase = Oni.ParticleFlags.Fluid;
if (emitterBlueprint != null && !(emitterBlueprint is ObiFluidEmitterBlueprint))
{
particlePhase = 0;
}
for (int i = 0; i < solverIndices.Length; i++)
{
m_Solver.phases[solverIndices[i]] = ObiUtils.MakePhase(fluidPhase, (selfCollisions ? Oni.ParticleFlags.SelfCollide : 0) | particlePhase);
}
}
}
private int FilterOutDistantContacts(Oni.Contact[] data, int count)
{
int filteredCount = count;
// simply iterate trough all contacts,
// moving the ones above the threshold to the end of the array:
for (int i = count - 1; i >= 0; --i)
{
if (data[i].distance > distanceThreshold)
{
ObiUtils.Swap(ref data[i], ref data[--filteredCount]);
}
}
return(filteredCount);
}
public static float ScreenPointToCurveMu(ObiPath path, Vector2 screenPoint, Matrix4x4 referenceFrame, int samples = 30)
{
if (path.ControlPointCount >= 2)
{
samples = Mathf.Max(1, samples);
float step = 1 / (float)samples;
float closestMu = 0;
float minDistance = float.MaxValue;
for (int k = 0; k < path.GetSpanCount(); ++k)
{
int nextCP = (k + 1) % path.ControlPointCount;
var wp1 = path.points[k];
var wp2 = path.points[nextCP];
Vector3 _p = referenceFrame.MultiplyPoint3x4(wp1.position);
Vector3 p = referenceFrame.MultiplyPoint3x4(wp1.outTangentEndpoint);
Vector3 p_ = referenceFrame.MultiplyPoint3x4(wp2.inTangentEndpoint);
Vector3 p__ = referenceFrame.MultiplyPoint3x4(wp2.position);
Vector2 lastPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, 0));
for (int i = 1; i <= samples; ++i)
{
Vector2 currentPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, i * step));
float mu;
float distance = Vector2.SqrMagnitude((Vector2)ObiUtils.ProjectPointLine(screenPoint, lastPoint, currentPoint, out mu) - screenPoint);
if (distance < minDistance)
{
minDistance = distance;
closestMu = (k + (i - 1) * step + mu / samples) / (float)path.GetSpanCount();
}
lastPoint = currentPoint;
}
}
return(closestMu);
}
else
{
Debug.LogWarning("Curve needs at least 2 control points to be defined.");
}
return(0);
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[aerodynamicIndices.Count];
for (int i = 0; i < aerodynamicNormals.Count; i++)
{
solverIndices[i] = actor.particleIndices[aerodynamicIndices[i]];
}
indicesOffset = actor.solver.aerodynamicConstraints.aerodynamicNormals.Length;
ObiUtils.AddRange(ref solver.aerodynamicConstraints.aerodynamicIndices, solverIndices);
ObiUtils.AddRange(ref solver.aerodynamicConstraints.aerodynamicNormals, aerodynamicNormals.ToArray());
ObiUtils.AddRange(ref solver.aerodynamicConstraints.wind, wind.ToArray());
ObiUtils.AddRange(ref solver.aerodynamicConstraints.aerodynamicCoeffs, aerodynamicCoeffs.ToArray());
}
protected override void OnAddToSolver(ObiBatchedConstraints constraints)
{
// Set solver constraint data:
solverIndices = new int[springIndices.Count];
solverRestLengths = new float[restLengths.Count];
solverStiffnesses = new Vector3[stiffnesses.Count];
int j = 0;
foreach (int i in ObiUtils.BilateralInterleaved(restLengths.Count))
{
solverIndices[j * 2] = constraints.Actor.particleIndices[springIndices[i * 2]];
solverIndices[j * 2 + 1] = constraints.Actor.particleIndices[springIndices[i * 2 + 1]];
solverRestLengths[j] = restLengths[i];
solverStiffnesses[j] = stiffnesses[i];
j++;
}
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[tetherIndices.Count];
for (int i = 0; i < maxLengthsScales.Count; i++)
{
solverIndices[i * 2] = actor.particleIndices[tetherIndices[i * 2]];
solverIndices[i * 2 + 1] = actor.particleIndices[tetherIndices[i * 2 + 1]];
}
indicesOffset = actor.solver.tetherConstraints.maxLengthsScales.Length;
ObiUtils.AddRange(ref solver.tetherConstraints.tetherIndices, solverIndices);
ObiUtils.AddRange(ref solver.tetherConstraints.maxLengthsScales, maxLengthsScales.ToArray());
ObiUtils.AddRange(ref solver.tetherConstraints.stiffnesses, stiffnesses.ToArray());
}
protected override void OnAddToSolver(ObiBatchedConstraints constraints)
{
// Set solver constraint data:
solverIndices = new int[springIndices.Count];
solverDarboux = new Quaternion[restDarbouxVectors.Count];
solverStiffnesses = new Vector3[stiffnesses.Count];
int j = 0;
foreach (int i in ObiUtils.BilateralInterleaved(restDarbouxVectors.Count))
{
solverIndices[j * 2] = constraints.Actor.particleIndices[springIndices[i * 2]];
solverIndices[j * 2 + 1] = constraints.Actor.particleIndices[springIndices[i * 2 + 1]];
solverDarboux[j] = restDarbouxVectors[i];
solverStiffnesses[j] = stiffnesses[i];
++j;
}
}
protected virtual IEnumerator CreateBendingConstraints()
{
bendConstraintsData = new ObiBendConstraintsData();
// Add three batches:
bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
for (int i = 0; i < totalParticles - 2; i++)
{
var batch = bendConstraintsData.batches[i % 3] as ObiBendConstraintsBatch;
Vector3Int indices = new Vector3Int(i, i + 2, i + 1);
float restBend = ObiUtils.RestBendingConstraint(restPositions[indices[0]], restPositions[indices[1]], restPositions[indices[2]]);
batch.AddConstraint(indices, restBend);
if (i < m_ActiveParticleCount - 2)
{
batch.activeConstraintCount++;
}
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRope: generating structural constraints...", i / (float)(totalParticles - 2)));
}
}
// if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
if (path.Closed)
{
var loopClosingBatch = new ObiBendConstraintsBatch();
bendConstraintsData.AddBatch(loopClosingBatch);
Vector3Int indices = new Vector3Int(m_ActiveParticleCount - 2, 0, m_ActiveParticleCount - 1);
loopClosingBatch.AddConstraint(indices, 0);
loopClosingBatch.activeConstraintCount++;
var loopClosingBatch2 = new ObiBendConstraintsBatch();
bendConstraintsData.AddBatch(loopClosingBatch2);
indices = new Vector3Int(m_ActiveParticleCount - 1, 1, 0);
loopClosingBatch2.AddConstraint(indices, 0);
loopClosingBatch2.activeConstraintCount++;
}
}
public float GetClosestMuToPoint(Vector3 point, float samples)
{
if (controlPoints.Count >= MinPoints)
{
samples = Mathf.Max(1, samples);
float step = 1 / (float)samples;
int numSpans = GetNumSpans();
float closestMu = 0;
float minDistance = float.MaxValue;
Matrix4x4 l2w = transform.localToWorldMatrix;
for (int k = 0; k < controlPoints.Count; ++k)
{
Vector3 _p = l2w.MultiplyPoint3x4(controlPoints[k].position);
Vector3 p = l2w.MultiplyPoint3x4(controlPoints[k].GetOutTangent());
Vector3 p_ = l2w.MultiplyPoint3x4(controlPoints[k + 1].GetInTangent());
Vector3 p__ = l2w.MultiplyPoint3x4(controlPoints[k + 1].position);
Vector3 lastPoint = Evaluate3D(_p, p, p_, p__, 0);
for (int i = 1; i <= samples; ++i)
{
Vector2 currentPoint = Evaluate3D(_p, p, p_, p__, i * step);
float mu;
float distance = Vector2.SqrMagnitude(ObiUtils.ProjectPointLine(point, lastPoint, currentPoint, out mu) - point);
if (distance < minDistance)
{
minDistance = distance;
closestMu = ((k - 1) + (i - 1) * step + mu / samples) / (float)numSpans;
}
lastPoint = currentPoint;
}
}
return(closestMu);
}
else
{
Debug.LogWarning("Catmull-Rom spline needs at least 4 control points to be defined.");
}
return(0);
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// subtract our amount of constraints from other actor's offsets:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiBendingConstraints bc = solver.actors[i].GetComponent <ObiBendingConstraints>();
if (bc != null)
{
bc.UpdateIndicesOffset(bc.indicesOffset - restBends.Count);
}
}
ObiUtils.RemoveRange(ref solver.bendingConstraints.bendingIndices, indicesOffset * 3, restBends.Count * 3);
ObiUtils.RemoveRange(ref solver.bendingConstraints.restBends, indicesOffset, restBends.Count);
ObiUtils.RemoveRange(ref solver.bendingConstraints.bendingStiffnesses, indicesOffset, restBends.Count);
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[bendingIndices.Count];
for (int i = 0; i < restBends.Count; i++)
{
solverIndices[i * 3] = actor.particleIndices[bendingIndices[i * 3]];
solverIndices[i * 3 + 1] = actor.particleIndices[bendingIndices[i * 3 + 1]];
solverIndices[i * 3 + 2] = actor.particleIndices[bendingIndices[i * 3 + 2]];
}
indicesOffset = actor.solver.bendingConstraints.restBends.Length;
ObiUtils.AddRange(ref solver.bendingConstraints.bendingIndices, solverIndices);
ObiUtils.AddRange(ref solver.bendingConstraints.restBends, restBends.ToArray());
ObiUtils.AddRange(ref solver.bendingConstraints.bendingStiffnesses, bendingStiffnesses.ToArray());
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// Update following actors' indices:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiTetherConstraints tc = solver.actors[i].GetComponent <ObiTetherConstraints>();
if (tc != null)
{
tc.UpdateIndicesOffset(tc.indicesOffset - maxLengthsScales.Count);
}
}
ObiUtils.RemoveRange(ref solver.tetherConstraints.tetherIndices, indicesOffset * 2, maxLengthsScales.Count * 2);
ObiUtils.RemoveRange(ref solver.tetherConstraints.maxLengthsScales, indicesOffset, maxLengthsScales.Count);
ObiUtils.RemoveRange(ref solver.tetherConstraints.stiffnesses, indicesOffset, maxLengthsScales.Count);
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// Update following actors' indices:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiPinConstraints pc = solver.actors[i].GetComponent <ObiPinConstraints>();
if (pc != null)
{
pc.UpdateIndicesOffset(pc.indicesOffset - pinOffsets.Count);
}
}
ObiUtils.RemoveRange(ref solver.pinConstraints.pinIndices, indicesOffset * 2, pinOffsets.Count * 2);
ObiUtils.RemoveRange(ref solver.pinConstraints.pinOffsets, indicesOffset, pinOffsets.Count);
ObiUtils.RemoveRange(ref solver.pinConstraints.stiffnesses, indicesOffset, pinOffsets.Count);
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[springIndices.Count];
for (int i = 0; i < restLengths.Count; i++)
{
solverIndices[i * 2] = actor.particleIndices[springIndices[i * 2]];
solverIndices[i * 2 + 1] = actor.particleIndices[springIndices[i * 2 + 1]];
}
indicesOffset = actor.solver.distanceConstraints.restLengths.Length;
ObiUtils.AddRange(ref solver.distanceConstraints.springIndices, solverIndices);
ObiUtils.AddRange(ref solver.distanceConstraints.restLengths, restLengths.ToArray());
ObiUtils.AddRange(ref solver.distanceConstraints.stiffnesses, stiffnesses.ToArray());
ObiUtils.AddRange(ref solver.distanceConstraints.stretching, stretching.ToArray());
}
public static float ScreenPointToCurveMu(ObiCurve curve, Vector2 screenPoint, int samples = 30)
{
if (curve.controlPoints.Count >= curve.MinPoints)
{
samples = Mathf.Max(1, samples);
float step = 1 / (float)samples;
float closestMu = 0;
float minDistance = float.MaxValue;
Matrix4x4 l2w = curve.transform.localToWorldMatrix;
for (int k = 0; k < curve.GetNumSpans(); ++k)
{
Vector3 _p = l2w.MultiplyPoint3x4(curve.controlPoints[k].position);
Vector3 p = l2w.MultiplyPoint3x4(curve.controlPoints[k].GetOutTangent());
Vector3 p_ = l2w.MultiplyPoint3x4(curve.controlPoints[(k + 1) % curve.controlPoints.Count].GetInTangent());
Vector3 p__ = l2w.MultiplyPoint3x4(curve.controlPoints[(k + 1) % curve.controlPoints.Count].position);
Vector2 lastPoint = HandleUtility.WorldToGUIPoint(curve.Evaluate3D(_p, p, p_, p__, 0));
for (int i = 1; i <= samples; ++i)
{
Vector2 currentPoint = HandleUtility.WorldToGUIPoint(curve.Evaluate3D(_p, p, p_, p__, i * step));
float mu;
float distance = Vector2.SqrMagnitude((Vector2)ObiUtils.ProjectPointLine(screenPoint, lastPoint, currentPoint, out mu) - screenPoint);
if (distance < minDistance)
{
minDistance = distance;
closestMu = (k + (i - 1) * step + mu / samples) / (float)curve.GetNumSpans();
}
lastPoint = currentPoint;
}
}
return(closestMu);
}
else
{
Debug.LogWarning("Curve needs at least 2 control points to be defined.");
}
return(0);
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[skinIndices.Count];
for (int i = 0; i < skinIndices.Count; i++)
{
solverIndices[i] = actor.particleIndices[skinIndices[i]];
solverIndices[i] = actor.particleIndices[skinIndices[i]];
}
indicesOffset = actor.solver.skinConstraints.skinIndices.Length;
ObiUtils.AddRange(ref solver.skinConstraints.skinIndices, solverIndices);
ObiUtils.AddRange(ref solver.skinConstraints.skinPoints, skinPoints.ToArray());
ObiUtils.AddRange(ref solver.skinConstraints.skinNormals, skinNormals.ToArray());
ObiUtils.AddRange(ref solver.skinConstraints.skinRadiiBackstops, skinRadiiBackstop.ToArray());
ObiUtils.AddRange(ref solver.skinConstraints.skinStiffnesses, skinStiffnesses.ToArray());
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// Update following actors' indices:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiDistanceConstraints dc = solver.actors[i].GetComponent <ObiDistanceConstraints>();
if (dc != null)
{
dc.UpdateIndicesOffset(dc.indicesOffset - restLengths.Count);
}
}
ObiUtils.RemoveRange(ref solver.distanceConstraints.springIndices, indicesOffset * 2, restLengths.Count * 2);
ObiUtils.RemoveRange(ref solver.distanceConstraints.restLengths, indicesOffset, restLengths.Count);
ObiUtils.RemoveRange(ref solver.distanceConstraints.stiffnesses, indicesOffset, restLengths.Count);
ObiUtils.RemoveRange(ref solver.distanceConstraints.stretching, indicesOffset, restLengths.Count);
}
private bool TopologySplitAttempt(ref int splitActorIndex,
ref int intactActorIndex,
out Vector3 point,
out Vector3 normal,
List <HalfEdgeMesh.Face> updatedFaces,
HashSet <int> updatedHalfEdges)
{
int splitSolverIndex = solverIndices[splitActorIndex];
int intactSolverIndex = solverIndices[intactActorIndex];
// we will first try to split the particle with higher mass, so swap them if needed.
if (m_Solver.invMasses[splitSolverIndex] > m_Solver.invMasses[intactSolverIndex])
{
ObiUtils.Swap(ref splitSolverIndex, ref intactSolverIndex);
}
// Calculate the splitting plane:
point = m_Solver.positions[splitSolverIndex];
Vector3 v2 = m_Solver.positions[intactSolverIndex];
normal = (v2 - point).normalized;
// Try to split the vertex at that particle.
// If we cannot not split the higher mass particle, try the other one. If that fails too, we cannot tear this edge.
if (m_Solver.invMasses[splitSolverIndex] == 0 ||
!SplitTopologyAtVertex(splitActorIndex, new Plane(normal, point), updatedFaces, updatedHalfEdges))
{
// Try to split the other particle:
ObiUtils.Swap(ref splitActorIndex, ref intactActorIndex);
ObiUtils.Swap(ref splitSolverIndex, ref intactSolverIndex);
point = m_Solver.positions[splitSolverIndex];
v2 = m_Solver.positions[intactSolverIndex];
normal = (v2 - point).normalized;
if (m_Solver.invMasses[splitSolverIndex] == 0 ||
!SplitTopologyAtVertex(splitActorIndex, new Plane(normal, point), updatedFaces, updatedHalfEdges))
{
return(false);
}
}
return(true);
}
public void OnDrawGizmosSelected()
{
Gizmos.matrix = transform.localToWorldMatrix;
Gizmos.color = new Color(0, 0.7f, 1, 1);
Gizmos.DrawWireSphere(Vector3.zero, radius);
float turb = GetTurbulence(1);
if (!radial)
{
ObiUtils.DrawArrowGizmo(radius + turb, radius * 0.2f, radius * 0.3f, radius * 0.2f);
}
else
{
Gizmos.DrawLine(new Vector3(0, 0, -radius * 0.5f) * turb, new Vector3(0, 0, radius * 0.5f) * turb);
Gizmos.DrawLine(new Vector3(0, -radius * 0.5f, 0) * turb, new Vector3(0, radius * 0.5f, 0) * turb);
Gizmos.DrawLine(new Vector3(-radius * 0.5f, 0, 0) * turb, new Vector3(radius * 0.5f, 0, 0) * turb);
}
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// subtract our amount of constraints from other actor's offsets:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiAerodynamicConstraints ac = solver.actors[i].GetComponent <ObiAerodynamicConstraints>();
if (ac != null)
{
ac.UpdateIndicesOffset(ac.indicesOffset - aerodynamicNormals.Count);
}
}
ObiUtils.RemoveRange(ref solver.aerodynamicConstraints.aerodynamicIndices, indicesOffset, aerodynamicIndices.Count);
ObiUtils.RemoveRange(ref solver.aerodynamicConstraints.aerodynamicNormals, indicesOffset, aerodynamicNormals.Count);
ObiUtils.RemoveRange(ref solver.aerodynamicConstraints.wind, indicesOffset, wind.Count);
ObiUtils.RemoveRange(ref solver.aerodynamicConstraints.aerodynamicCoeffs, indicesOffset * 3, aerodynamicCoeffs.Count);
}
private void RefreshCutawayTexture(ObiDistanceField field)
{
if (field == null)
{
return;
}
Bounds b = field.FieldBounds;
sampleSize = field.EffectiveSampleSize;
sampleCount = (int)(b.size[0] / sampleSize) + 1;
CreatePlaneMesh(field);
ResizeTexture();
float sweep = (sampleCount * slice) * sampleSize;
Vector3 origin = b.center - b.extents;
for (int x = 0; x < sampleCount; ++x)
{
for (int y = 0; y < sampleCount; ++y)
{
Vector3 offset = Vector3.zero;
switch (axis)
{
case Axis.X: offset = new Vector3(sweep, y * sampleSize, x * sampleSize); break;
case Axis.Y: offset = new Vector3(x * sampleSize, sweep, y * sampleSize); break;
case Axis.Z: offset = new Vector3(x * sampleSize, y * sampleSize, sweep); break;
}
Vector4 position = origin + offset;
float distance = Oni.SampleDistanceField(field.OniDistanceField, position.x, position.y, position.z);
float value = ObiUtils.Remap(distance, -maxDistance, maxDistance, 0, 1);
cutawayTexture.SetPixel(x, y, new Color(value, 0, 0));
}
}
cutawayTexture.Apply();
}
protected override void OnRemoveFromSolver(object info)
{
ObiSolver solver = actor.solver;
// subtract our amount of constraints from other actor's offsets:
for (int i = actor.actorID + 1; i < solver.actors.Count; i++)
{
ObiSkinConstraints dc = solver.actors[i].GetComponent <ObiSkinConstraints>();
if (dc != null)
{
dc.UpdateIndicesOffset(dc.indicesOffset - skinIndices.Count);
}
}
ObiUtils.RemoveRange(ref solver.skinConstraints.skinIndices, indicesOffset, skinIndices.Count);
ObiUtils.RemoveRange(ref solver.skinConstraints.skinPoints, indicesOffset, skinIndices.Count);
ObiUtils.RemoveRange(ref solver.skinConstraints.skinNormals, indicesOffset, skinIndices.Count);
ObiUtils.RemoveRange(ref solver.skinConstraints.skinRadiiBackstops, indicesOffset * 2, skinIndices.Count * 2);
ObiUtils.RemoveRange(ref solver.skinConstraints.skinStiffnesses, indicesOffset, skinIndices.Count);
}
protected override void OnAddToSolver(object info)
{
ObiSolver solver = actor.solver;
// Set solver constraint data:
int[] solverIndices = new int[particleIndices.Count];
for (int i = 0; i < particleIndices.Count; i++)
{
solverIndices[i] = actor.particleIndices[particleIndices[i]];
}
int[] solverFirstTriangle = new int[firstTriangle.Count];
for (int i = 0; i < firstTriangle.Count; i++)
{
solverFirstTriangle[i] = (int)actor.solver.volumeConstraints.volumeTriangleIndices.Length / 3 + firstTriangle[i];
}
int[] solverFirstParticle = new int[firstParticle.Count];
for (int i = 0; i < firstParticle.Count; i++)
{
solverFirstParticle[i] = actor.solver.volumeConstraints.volumeParticleIndices.Length + firstParticle[i];
}
indicesOffset = actor.solver.volumeConstraints.volumeRestVolumes.Length;
volumeTrianglesOffset = actor.solver.volumeConstraints.volumeTriangleIndices.Length;
volumeParticlesOffset = actor.solver.volumeConstraints.volumeParticleIndices.Length;
ObiUtils.AddRange(ref solver.volumeConstraints.volumeTriangleIndices, triangleIndices.ToArray());
ObiUtils.AddRange(ref solver.volumeConstraints.volumeFirstTriangle, solverFirstTriangle);
ObiUtils.AddRange(ref solver.volumeConstraints.volumeNumTriangles, numTriangles.ToArray());
ObiUtils.AddRange(ref solver.volumeConstraints.volumeParticleIndices, solverIndices);
ObiUtils.AddRange(ref solver.volumeConstraints.volumeFirstParticle, solverFirstParticle);
ObiUtils.AddRange(ref solver.volumeConstraints.volumeNumParticles, numParticles.ToArray());
ObiUtils.AddRange(ref solver.volumeConstraints.volumeRestVolumes, restVolumes.ToArray());
ObiUtils.AddRange(ref solver.volumeConstraints.volumePressureStiffnesses, pressureStiffness.ToArray());
}
protected virtual IEnumerator CreateBendTwistConstraints()
{
bendTwistConstraintsData = new ObiBendTwistConstraintsData();
// Add two batches:
bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
// the last bend constraint couples the last segment and a phantom segment past the last particle.
for (int i = 0; i < totalParticles - 1; i++)
{
var batch = bendTwistConstraintsData.batches[i % 2] as ObiBendTwistConstraintsBatch;
Vector2Int indices = new Vector2Int(i, i + 1);
Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
batch.AddConstraint(indices, darboux);
batch.activeConstraintCount++;
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)(totalParticles - 1)));
}
}
// if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
if (path.Closed)
{
var loopClosingBatch = new ObiBendTwistConstraintsBatch();
bendTwistConstraintsData.AddBatch(loopClosingBatch);
Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
loopClosingBatch.AddConstraint(indices, darboux);
loopClosingBatch.activeConstraintCount++;
}
}
public static float DistanceToSurface(Triangle[] triangles,
Vector3[] vertices,
Vector3[] normals,
BIHNode node,
Vector3 point)
{
float minDistance = float.MaxValue;
int sign = 1;
for (int i = node.start; i < node.start + node.count; ++i)
{
Triangle t = triangles[i];
Vector3 pointOnTri = ObiUtils.NearestPointOnTri(vertices[t.i1],
vertices[t.i2],
vertices[t.i3],
point);
Vector3 pointToTri = point - pointOnTri;
float sqrDistance = pointToTri.sqrMagnitude;
if (sqrDistance < minDistance)
{
Vector3 bary = Vector3.zero;
ObiUtils.BarycentricCoordinates(vertices[t.i1], vertices[t.i2], vertices[t.i3], pointOnTri, ref bary);
Vector3 interpolatedNormal = ObiUtils.BarycentricInterpolation(normals[t.i1],
normals[t.i2],
normals[t.i3], bary);
sign = ObiUtils.PureSign(Vector3.Dot(pointToTri, interpolatedNormal));
minDistance = sqrDistance;
}
}
return(Mathf.Sqrt(minDistance) * sign);
}
public override void OnInspectorGUI()
{
serializedObject.UpdateIfRequiredOrScript();
Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
// Get the particle actor editor to retrieve selected particles:
ObiParticleActorEditor[] editors = (ObiParticleActorEditor[])Resources.FindObjectsOfTypeAll(typeof(ObiParticleActorEditor));
// If there's any particle actor editor active, we can show pin constraints:
if (editors.Length > 0)
{
List <int> selectedPins = new List <int>();
List <int> removedPins = new List <int>();
if (constraints.GetFirstBatch() != null)
{
ObiPinConstraintBatch batch = constraints.GetFirstBatch();
// Get the list of pin constraints from the selected particles:
for (int i = 0; i < batch.ConstraintCount; i++)
{
int particleIndex = batch.pinIndices[i];
if (particleIndex >= 0 && particleIndex < ObiParticleActorEditor.selectionStatus.Length &&
ObiParticleActorEditor.selectionStatus[particleIndex])
{
selectedPins.Add(i);
}
}
if (selectedPins.Count > 0)
{
//Iterate over all constraints:
foreach (int i in selectedPins)
{
GUILayout.BeginVertical("box");
GUILayout.BeginHorizontal();
EditorGUI.BeginChangeCheck();
bool allowSceneObjects = !EditorUtility.IsPersistent(target);
batch.pinBodies[i] = EditorGUILayout.ObjectField("Pinned to:", batch.pinBodies[i], typeof(ObiColliderBase), allowSceneObjects) as ObiColliderBase;
// Calculate initial pin offset value after changing the rigidbody.
if (EditorGUI.EndChangeCheck() && batch.pinBodies[i] != null)
{
batch.pinOffsets[i] = batch.pinBodies[i].transform.InverseTransformPoint(constraints.Actor.GetParticlePosition(batch.pinIndices[i]));
batch.restDarbouxVectors[i] = ObiUtils.RestDarboux(constraints.Actor.GetParticleOrientation(batch.pinIndices[i]), batch.pinBodies[i].transform.rotation);
}
Color oldColor = GUI.color;
GUI.color = Color.red;
if (GUILayout.Button("X", GUILayout.Width(30)))
{
// Mark this constraint to be removed outside of the loop.
removedPins.Add(i);
continue;
}
GUI.color = oldColor;
GUILayout.EndHorizontal();
batch.pinOffsets[i] = EditorGUILayout.Vector3Field("Offset:", batch.pinOffsets[i]);
batch.pinBreakResistance[i] = EditorGUILayout.DelayedFloatField("Break Resistance:", batch.pinBreakResistance[i]);
GUILayout.EndVertical();
}
}
else
{
EditorGUILayout.HelpBox("No pin constraints for the selected particles.", MessageType.Info);
}
if (GUILayout.Button("Remove selected"))
{
for (int i = 0; i < batch.ConstraintCount; i++)
{
int particleIndex = batch.pinIndices[i];
if (particleIndex >= 0 && particleIndex < ObiParticleActorEditor.selectionStatus.Length &&
ObiParticleActorEditor.selectionStatus[particleIndex])
{
removedPins.Add(i);
}
}
}
if (GUILayout.Button("Add Pin Constraint"))
{
Undo.RecordObject(constraints, "Add pin constraints");
bool wasInSolver = constraints.InSolver;
constraints.RemoveFromSolver(null);
for (int i = 0; i < ObiParticleActorEditor.selectionStatus.Length; i++)
{
if (ObiParticleActorEditor.selectionStatus[i])
{
batch.AddConstraint(i, null, Vector3.zero, Quaternion.identity, 0);
}
}
if (wasInSolver)
{
constraints.AddToSolver(null);
}
}
// Remove selected constraint outside of constraint listing loop:
if (removedPins.Count > 0)
{
Undo.RecordObject(constraints, "Remove pin constraints");
bool wasInSolver = constraints.InSolver;
constraints.RemoveFromSolver(null);
// Remove from last to first, to avoid throwing off subsequent indices:
foreach (int i in removedPins.OrderByDescending(i => i))
{
batch.RemoveConstraint(i);
}
if (wasInSolver)
{
constraints.AddToSolver(null);
}
}
}
}
// Apply changes to the serializedProperty
if (GUI.changed)
{
serializedObject.ApplyModifiedProperties();
constraints.PushDataToSolver();
}
}
protected override IEnumerator Initialize()
{
if (path.ControlPointCount < 2)
{
ClearParticleGroups();
path.InsertControlPoint(0, Vector3.left, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, 1, Color.white, "control point");
path.InsertControlPoint(1, Vector3.right, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, 1, Color.white, "control point");
}
path.RecalculateLenght(Matrix4x4.identity, 0.00001f, 7);
List <Vector3> particlePositions = new List <Vector3>();
List <float> particleThicknesses = new List <float>();
List <float> particleInvMasses = new List <float>();
List <int> particlePhases = new List <int>();
List <Color> particleColors = new List <Color>();
// In case the path is open, add a first particle. In closed paths, the last particle is also the first one.
if (!path.Closed)
{
particlePositions.Add(path.points.GetPositionAtMu(path.Closed, 0));
particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, 0));
particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, 0)));
particlePhases.Add(path.phases.GetAtMu(path.Closed, 0));
particleColors.Add(path.colors.GetAtMu(path.Closed, 0));
}
// Create a particle group for the first control point:
groups[0].particleIndices.Clear();
groups[0].particleIndices.Add(0);
ReadOnlyCollection <float> lengthTable = path.ArcLengthTable;
int spans = path.GetSpanCount();
for (int i = 0; i < spans; i++)
{
int firstArcLengthSample = i * (path.ArcLengthSamples + 1);
int lastArcLengthSample = (i + 1) * (path.ArcLengthSamples + 1);
float upToSpanLength = lengthTable[firstArcLengthSample];
float spanLength = lengthTable[lastArcLengthSample] - upToSpanLength;
int particlesInSpan = 1 + Mathf.FloorToInt(spanLength / thickness * resolution);
float distance = spanLength / particlesInSpan;
for (int j = 0; j < particlesInSpan; ++j)
{
float mu = path.GetMuAtLenght(upToSpanLength + distance * (j + 1));
particlePositions.Add(path.points.GetPositionAtMu(path.Closed, mu));
particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, mu));
particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, mu)));
particlePhases.Add(path.phases.GetAtMu(path.Closed, mu));
particleColors.Add(path.colors.GetAtMu(path.Closed, mu));
}
// Create a particle group for each control point:
if (!(path.Closed && i == spans - 1))
{
groups[i + 1].particleIndices.Clear();
groups[i + 1].particleIndices.Add(particlePositions.Count - 1);
}
if (i % 100 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)spans));
}
}
m_ActiveParticleCount = particlePositions.Count;
totalParticles = m_ActiveParticleCount + pooledParticles;
int numSegments = m_ActiveParticleCount - (path.Closed ? 0 : 1);
if (numSegments > 0)
{
m_InterParticleDistance = path.Length / (float)numSegments;
}
else
{
m_InterParticleDistance = 0;
}
positions = new Vector3[totalParticles];
restPositions = new Vector4[totalParticles];
velocities = new Vector3[totalParticles];
invMasses = new float[totalParticles];
principalRadii = new Vector3[totalParticles];
phases = new int[totalParticles];
colors = new Color[totalParticles];
restLengths = new float[totalParticles];
for (int i = 0; i < m_ActiveParticleCount; i++)
{
invMasses[i] = particleInvMasses[i];
positions[i] = particlePositions[i];
restPositions[i] = positions[i];
restPositions[i][3] = 1; // activate rest position.
principalRadii[i] = Vector3.one * particleThicknesses[i] * thickness;
phases[i] = ObiUtils.MakePhase(particlePhases[i], 0);
colors[i] = particleColors[i];
if (i % 100 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)m_ActiveParticleCount));
}
}
//Create distance constraints for the total number of particles, but only activate for the used ones.
IEnumerator dc = CreateDistanceConstraints();
while (dc.MoveNext())
{
yield return(dc.Current);
}
//Create bending constraints:
IEnumerator bc = CreateBendingConstraints();
while (bc.MoveNext())
{
yield return(bc.Current);
}
// Recalculate rest length:
m_RestLength = 0;
foreach (float length in restLengths)
{
m_RestLength += length;
}
}
/**
* We need to find the barycentric coordinates of point such that the interpolated normal at that point passes trough our target position.
*
* X
* \ / /
* \------/--/
*
* This is necessary to ensure curvature changes in the surface affect skinned points away from the face plane.
* To do so, we use an iterative method similar to Newton´s method for root finding:
*
* - Project the point on the triangle using an initial normal.
* - Get interpolated normal at projection.
* - Intersect line from point and interpolated normal with triangle, to find a new projection.
* - Repeat.
*/
BarycentricPoint FindSkinBarycentricCoords(MasterFace triangle,
Vector3 position,
int max_iterations,
float min_convergence)
{
BarycentricPoint barycentricPoint = BarycentricPoint.zero;
// start at center of triangle:
Vector3 trusted_bary = Vector3.one / 3.0f;
Vector3 temp_normal = ObiUtils.BarycentricInterpolation(triangle.n1,
triangle.n2,
triangle.n3,
trusted_bary);
int it = 0;
float trust = 1.0f;
float convergence = float.MaxValue;
while (it++ < max_iterations)
{
Vector3 point;
if (!Obi.ObiUtils.LinePlaneIntersection(triangle.p1, triangle.faceNormal, position, temp_normal, out point))
{
break;
}
// get bary coords at intersection:
Vector3 bary = Vector3.zero;
if (!triangle.BarycentricCoords(point, ref bary))
{
break;
}
// calculate error:
Vector3 error = bary - trusted_bary; // distance from current estimation to last trusted estimation.
convergence = Vector3.Dot(error, error); // get a single convergence value.
// weighted sum of bary coords:
trusted_bary = (1.0f - trust) * trusted_bary + trust * bary;
// update normal
temp_normal = ObiUtils.BarycentricInterpolation(triangle.n1,
triangle.n2,
triangle.n3,
trusted_bary);
if (convergence < min_convergence)
{
break;
}
trust *= 0.8f;
}
Vector3 pos_on_tri = trusted_bary[0] * triangle.p1 +
trusted_bary[1] * triangle.p2 +
trusted_bary[2] * triangle.p3;
float height = Vector3.Dot(position - pos_on_tri, temp_normal);
barycentricPoint.barycentricCoords = trusted_bary;
barycentricPoint.height = height;
return(barycentricPoint);
}
public static List <BIHNode> Build(ref IBounded[] elements)
{
List <BIHNode> nodes = new List <BIHNode> {
new BIHNode(0, elements.Length)
};
var queue = new Queue <int>();
queue.Enqueue(0);
while (queue.Count > 0)
{
// get current node:
int index = queue.Dequeue();
var node = nodes[index];
// if this node contains enough elements, split it:
if (node.count > 1)
{
int start = node.start;
int end = start + (node.count - 1);
// calculate bounding box of all elements:
Aabb b = elements[start].GetBounds();
for (int k = start + 1; k <= end; ++k)
{
b.Encapsulate(elements[k].GetBounds());
}
// determine split axis (longest one):
Vector3 size = b.size;
int axis = node.axis = (size.x > size.y) ?
(size.x > size.z ? 0 : 2) :
(size.y > size.z ? 1 : 2);
// place split plane at half the longest axis:
float pivot = b.min[axis] + size[axis] * 0.5f;
// sort elements using the split plane (Hoare's partition algorithm):
int i = start - 1;
int j = end + 1;
Aabb bi, bj;
while (true)
{
// iterate over left elements, while they're smaller than the pivot.
do
{
bi = elements[++i].GetBounds();
if (bi.center[axis] < pivot)
{
node.min = Mathf.Max(node.min, bi.max[axis]);
}
} while (bi.center[axis] < pivot);
// iterate over right elements, while they're larger than the pivot.
do
{
bj = elements[--j].GetBounds();
if (bj.center[axis] > pivot)
{
node.max = Mathf.Min(node.max, bj.min[axis]);
}
} while (bj.center[axis] > pivot);
// if element i is larger than the pivot, j smaller than the pivot, swap them.
if (i < j)
{
ObiUtils.Swap(ref elements[i], ref elements[j]);
node.min = Mathf.Max(node.min, bj.max[axis]);
node.max = Mathf.Min(node.max, bi.min[axis]);
}
else
{
break;
}
}
// create two child nodes:
var minChild = new BIHNode(start, j - start + 1);
var maxChild = new BIHNode(j + 1, end - j);
// guard against cases where all elements are on one side of the split plane,
// due to all having the same or very similar bounds as the entire group.
if (minChild.count > 0 && maxChild.count > 0)
{
node.firstChild = nodes.Count;
nodes[index] = node;
queue.Enqueue(nodes.Count);
queue.Enqueue(nodes.Count + 1);
// append child nodes to list:
nodes.Add(minChild);
nodes.Add(maxChild);
}
}
}
return(nodes);
}
