public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected)
{
this.FHit.SliceCount = SpreadMax;
List<double> fraction = new List<double>();
List<Vector3D> position = new List<Vector3D>();
List<Vector3D> normal = new List<Vector3D>();
List<SoftBody> body = new List<SoftBody>();
List<int> bodyid = new List<int>();
List<int> qidx = new List<int>();
List<int> nidx = new List<int>();
List<EFeature> feat = new List<EFeature>();
List<Node> nodes = new List<Node>();
for (int i = 0; i < SpreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
List<SoftBody> sbs = this.FWorld[0].SoftBodies;
//List<SRayCast> results = new List<SRayCast>();
SRayCast closest = null;
for (int ib = 0; ib < sbs.Count; ++ib)
{
SoftBody psb = sbs[ib];
SRayCast res = new SRayCast();
if (psb.RayTest(from, to, res))
{
if (closest == null)
{ closest = res; }
else
{ if (res.Fraction < closest.Fraction) { closest = res; } }
}
}
if (closest != null)
{
this.FHit[i] = true;
fraction.Add(closest.Fraction);
Vector3 pos = from + (to - from) * closest.Fraction;
position.Add(pos.ToVVVVector());
body.Add(closest.Body);
qidx.Add(i);
SoftBodyCustomData sd = (SoftBodyCustomData)closest.Body.UserObject;
bodyid.Add(sd.Id);
feat.Add(closest.Feature);
int nodeidx = closest.Index;
Node fnode = null;
if (closest.Feature == EFeature.Face)
{
var f = closest.Body.Faces[closest.Index];
Node node = f.N[0];
for (int ni = 1; ni < 3; ++ni)
{
if ((node.X - pos).LengthSquared() >
(f.N[ni].X - pos).LengthSquared())
{
fnode = f.N[ni];
}
}
}
if (closest.Feature == EFeature.Node)
{
fnode = closest.Body.Nodes[nodeidx];
}
nidx.Add(nodeidx);
nodes.Add(fnode);
}
else
{
this.FHit[i] = false;
}
}
this.FId.AssignFrom(bodyid);
this.FHitFraction.AssignFrom(fraction);
this.FHitPosition.AssignFrom(position);
this.FQueryIndex.AssignFrom(qidx);
this.FBody.AssignFrom(body);
this.FHitFeature.AssignFrom(feat);
this.FHitIndex.AssignFrom(nidx);
this.FNode.AssignFrom(nodes);
}
else
{
this.FHit.SliceCount = 0;
this.FId.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
this.FHitFeature.SliceCount = 0;
this.FHitIndex.SliceCount = 0;
this.FBody.SliceCount = 0;
this.FNode.SliceCount = 0;
}
}
public bool RayTest(Vector3 rayFrom, Vector3 rayTo, SRayCast results)
{
IntPtr rayCast = btSoftBody_sRayCast_new();
bool ret = btSoftBody_rayTest(_native, ref rayFrom, ref rayTo, rayCast);
results.Body = this;
results.Feature = btSoftBody_sRayCast_getFeature(rayCast);
results.Fraction = btSoftBody_sRayCast_getFraction(rayCast);
results.Index = btSoftBody_sRayCast_getIndex(rayCast);
btSoftBody_sRayCast_delete(rayCast);
return ret;
}
public override void OnHandleInput()
{
if (Input.KeysPressed.Contains(Keys.B))
{
PreviousDemo();
}
else if (Input.KeysPressed.Contains(Keys.N))
{
NextDemo();
}
if (Input.KeysDown.Count != 0)
{
if (demos[demo] == Init_ClusterCombine || demos[demo] == Init_ClusterCar)
{
if (Input.KeysDown.Contains(Keys.Up))
{
motorControl.MaxTorque = 1;
motorControl.Goal += FrameDelta * 2;
}
else if (Input.KeysDown.Contains(Keys.Down))
{
motorControl.MaxTorque = 1;
motorControl.Goal -= FrameDelta * 2;
}
else if (Input.KeysDown.Contains(Keys.Left))
{
steerControlF.Angle += FrameDelta;
steerControlR.Angle += FrameDelta;
}
else if (Input.KeysDown.Contains(Keys.Right))
{
steerControlF.Angle -= FrameDelta;
steerControlR.Angle -= FrameDelta;
}
}
}
if (Input.MousePressed == MouseButtons.Right)
{
results.Fraction = 1;
if (pickConstraint == null)
{
Vector3 rayFrom = Freelook.Eye;
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
Vector3 rayDir = rayTo - rayFrom;
rayDir.Normalize();
SRayCast res = new SRayCast();
var softBodies = (World as SoftRigidDynamicsWorld).SoftBodyArray;
if (softBodies.Any(b => b.RayTest(rayFrom, rayTo, res)))
{
results = res;
impact = rayFrom + (rayTo - rayFrom) * results.Fraction;
drag = !cutting;
lastMousePos = Input.MousePoint;
NodePtrArray nodes;
switch (results.Feature)
{
case EFeature.Face:
nodes = results.Body.Faces[results.Index].N;
break;
case EFeature.Tetra:
nodes = results.Body.Tetras[results.Index].Nodes;
break;
default:
nodes = null;
break;
}
if (nodes != null)
{
node = nodes.Aggregate((min, n) =>
(n.X - impact).LengthSquared <
(min.X - impact).LengthSquared ? n : min
);
goal = node.X;
}
else
{
node = null;
}
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
if (!drag && cutting && results.Fraction < 1)
{
using (var isphere = new ImplicitSphere(impact, 1))
{
results.Body.Refine(isphere, 0.0001f, true);
}
}
results.Fraction = 1;
drag = false;
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
if (node != null && results.Fraction < 1)
{
if (!drag)
{
int x = Input.MousePoint.X - lastMousePos.X;
int y = Input.MousePoint.Y - lastMousePos.Y;
if ((x * x) + (y * y) > 6)
{
drag = true;
}
}
if (drag)
{
lastMousePos = Input.MousePoint;
}
}
}
base.OnHandleInput();
}
public bool RayTest(ref Vector3 rayFrom, ref Vector3 rayTo, SRayCast results)
{
return btSoftBody_rayTest(_native, ref rayFrom, ref rayTo, results._native);
}
protected override void OnHandleInput()
{
base.OnHandleInput();
if (Input.MousePressed == MouseButtons.Right)
{
results.Fraction = 1;
if (pickConstraint == null)
{
Vector3 rayFrom = Freelook.Eye;
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView);
Vector3 rayDir = rayTo - rayFrom;
rayDir.Normalize();
SRayCast res = new SRayCast();
var softBodies = (PhysicsContext.World as SoftRigidDynamicsWorld).SoftBodyArray;
if (softBodies.Any(b => b.RayTest(rayFrom, rayTo, res)))
{
results = res;
impact = rayFrom + (rayTo - rayFrom) * results.Fraction;
drag = !(PhysicsContext as Physics).cutting;
lastMousePos = Input.MousePoint;
NodePtrArray nodes;
switch (results.Feature)
{
case EFeature.Face:
nodes = results.Body.Faces[results.Index].N;
break;
case EFeature.Tetra:
nodes = results.Body.Tetras[results.Index].Nodes;
break;
default:
nodes = null;
break;
}
if (nodes != null)
{
node = nodes.Aggregate((min, n) =>
(n.X - impact).LengthSquared() <
(min.X - impact).LengthSquared() ? n : min
);
goal = node.X;
}
else
{
node = null;
}
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
if (!drag && (PhysicsContext as Physics).cutting && results.Fraction < 1)
{
using (var isphere = new ImplicitSphere(impact, 1))
{
results.Body.Refine(isphere, 0.0001f, true);
}
}
results.Fraction = 1;
drag = false;
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
if (node != null && results.Fraction < 1)
{
if (!drag)
{
int x = Input.MousePoint.X - lastMousePos.X;
int y = Input.MousePoint.Y - lastMousePos.Y;
if ((x * x) + (y * y) > 6)
{
drag = true;
}
}
if (drag)
{
lastMousePos = Input.MousePoint;
}
}
}
(PhysicsContext as Physics).HandleInput(Input, FrameDelta);
}
public override void OnHandleInput()
{
if (Input.KeysPressed.Contains(Keys.B))
{
PreviousDemo();
}
else if (Input.KeysPressed.Contains(Keys.N))
{
NextDemo();
}
if (Input.KeysDown.Count != 0)
{
if (demos[demo] == Init_ClusterCombine || demos[demo] == Init_ClusterCar)
{
if (Input.KeysDown.Contains(Keys.Up))
{
motorControl.MaxTorque = 1;
motorControl.Goal += FrameDelta * 2;
}
else if (Input.KeysDown.Contains(Keys.Down))
{
motorControl.MaxTorque = 1;
motorControl.Goal -= FrameDelta * 2;
}
else if (Input.KeysDown.Contains(Keys.Left))
{
steerControlF.Angle += FrameDelta;
steerControlR.Angle += FrameDelta;
}
else if (Input.KeysDown.Contains(Keys.Right))
{
steerControlF.Angle -= FrameDelta;
steerControlR.Angle -= FrameDelta;
}
}
}
if (Input.MousePressed == MouseButtons.Right)
{
results.Fraction = 1;
if (pickConstraint == null)
{
Vector3 rayFrom = Freelook.Eye;
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
Vector3 rayDir = (rayTo - rayFrom);
rayDir.Normalize();
AlignedSoftBodyArray sbs = SoftWorld.SoftBodyArray;
for (int ib = 0; ib < sbs.Count; ++ib)
{
SoftBody psb = sbs[ib];
SRayCast res = new SRayCast();
if (psb.RayTest(ref rayFrom, ref rayTo, res))
{
results = res;
}
else
{
res.Dispose();
}
}
if (results.Fraction < 1)
{
impact = rayFrom + (rayTo - rayFrom) * results.Fraction;
drag = !cutting;
lastMousePos = Input.MousePoint;
node = null;
switch (results.Feature)
{
case EFeature.Tetra:
{
Tetra tet = results.Body.Tetras[results.Index];
node = tet.Nodes[0];
for (int i = 1; i < 4; ++i)
{
if ((node.Position - impact).LengthSquared >
(tet.Nodes[i].Position - impact).LengthSquared)
{
node = tet.Nodes[i];
}
}
break;
}
case EFeature.Face:
{
Face f = results.Body.Faces[results.Index];
node = f.N[0];
for (int i = 1; i < 3; ++i)
{
if ((node.Position - impact).LengthSquared >
(f.N[i].Position - impact).LengthSquared)
{
node = f.N[i];
}
}
}
break;
}
if (node != null)
goal = node.Position;
//return;
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
if ((!drag) && cutting && (results.Fraction < 1))
{
using (ImplicitSphere isphere = new ImplicitSphere(ref impact, 1))
{
results.Body.Refine(isphere, 0.0001f, true);
}
}
results.Fraction = 1;
drag = false;
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
if (node != null && (results.Fraction < 1))
{
if (!drag)
{
int x = Input.MousePoint.X - lastMousePos.X;
int y = Input.MousePoint.Y - lastMousePos.Y;
if ((x * x) + (y * y) > 6)
{
drag = true;
}
}
if (drag)
{
lastMousePos = Input.MousePoint;
}
}
}
base.OnHandleInput();
}
protected override void OnHandleInput()
{
base.OnHandleInput();
if (Input.MousePressed == MouseButtons.Right)
{
results.Fraction = 1;
if (pickConstraint == null)
{
Vector3 rayFrom = Freelook.Eye;
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView);
Vector3 rayDir = (rayTo - rayFrom);
rayDir.Normalize();
AlignedSoftBodyArray sbs = ((SoftRigidDynamicsWorld)PhysicsContext.World).SoftBodyArray;
for (int ib = 0; ib < sbs.Count; ++ib)
{
SoftBody psb = sbs[ib];
SRayCast res = new SRayCast();
if (psb.RayTest(rayFrom, rayTo, res))
{
results = res;
}
}
if (results.Fraction < 1)
{
impact = rayFrom + (rayTo - rayFrom) * results.Fraction;
drag = !(PhysicsContext as Physics).cutting;
lastMousePos = Input.MousePoint;
node = null;
switch (results.Feature)
{
case EFeature.Tetra:
{
Tetra tet = results.Body.Tetras[results.Index];
node = tet.Nodes[0];
for (int i = 1; i < 4; ++i)
{
if ((node.X - impact).LengthSquared() >
(tet.Nodes[i].X - impact).LengthSquared())
{
node = tet.Nodes[i];
}
}
break;
}
case EFeature.Face:
{
Face f = results.Body.Faces[results.Index];
node = f.N[0];
for (int i = 1; i < 3; ++i)
{
if ((node.X - impact).LengthSquared() >
(f.N[i].X - impact).LengthSquared())
{
node = f.N[i];
}
}
}
break;
}
if (node != null)
goal = node.X;
//return;
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
if ((!drag) && (PhysicsContext as Physics).cutting && (results.Fraction < 1))
{
ImplicitSphere isphere = new ImplicitSphere(impact, 1);
results.Body.Refine(isphere, 0.0001f, true);
}
results.Fraction = 1;
drag = false;
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
if (node != null && (results.Fraction < 1))
{
if (!drag)
{
int x = Input.MousePoint.X - lastMousePos.X;
int y = Input.MousePoint.Y - lastMousePos.Y;
if ((x * x) + (y * y) > 6)
{
drag = true;
}
}
if (drag)
{
lastMousePos = Input.MousePoint;
}
}
}
(PhysicsContext as Physics).HandleInput(Input, FrameDelta);
}
