public vertexConstraints Add(Verlet.DistConstraint addThis)
{
Verlet.DistConstraint dC = new Verlet.DistConstraint();
if (c1 == dC)
{
c1 = addThis; numValid = 1; return(this);
}
if (c2 == dC)
{
c2 = addThis; numValid = 2; return(this);
}
if (c3 == dC)
{
c3 = addThis; numValid = 3; return(this);
}
if (c4 == dC)
{
c4 = addThis; numValid = 4; return(this);
}
if (c5 == dC)
{
c5 = addThis; numValid = 5; return(this);
}
if (c6 == dC)
{
c6 = addThis; numValid = 6; return(this);
}
return(this);
}
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);
}
}
