public override IObiConstraintsBatch Clone(IObiConstraints constraints)
{
var clone = new ObiStretchShearConstraintsBatch(constraints as ObiStretchShearConstraintsData, this);
clone.particleIndices.ResizeUninitialized(particleIndices.count);
clone.orientationIndices.ResizeUninitialized(orientationIndices.count);
clone.restLengths.ResizeUninitialized(restLengths.count);
clone.restOrientations.ResizeUninitialized(restOrientations.count);
clone.stiffnesses.ResizeUninitialized(stiffnesses.count);
clone.particleIndices.CopyFrom(particleIndices);
clone.orientationIndices.CopyFrom(orientationIndices);
clone.restLengths.CopyFrom(restLengths);
clone.restOrientations.CopyFrom(restOrientations);
clone.stiffnesses.CopyFrom(stiffnesses);
return(clone);
}
protected virtual IEnumerator CreateStretchShearConstraints(List <Vector3> particleNormals)
{
stretchShearConstraintsData = new ObiStretchShearConstraintsData();
stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
// rotation minimizing frame:
ObiPathFrame frame = new ObiPathFrame();
frame.Reset();
for (int i = 0; i < totalParticles - 1; i++)
{
var batch = stretchShearConstraintsData.batches[i % 2] as ObiStretchShearConstraintsBatch;
Vector2Int indices = new Vector2Int(i, i + 1);
Vector3 d = positions[indices.y] - positions[indices.x];
restLengths[i] = d.magnitude;
frame.Transport(positions[indices.x], d.normalized, 0);
orientations[i] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
restOrientations[i] = orientations[i];
// Also set the orientation of the next particle. If it is not the last one, we will overwrite it.
// This makes sure that open rods provide an orientation for their last particle (or rather, a phantom segment past the last particle).
orientations[indices.y] = orientations[i];
restOrientations[indices.y] = orientations[i];
batch.AddConstraint(indices, indices.x, restLengths[i], Quaternion.identity);
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 constraint to a new batch to avoid sharing particles.
if (path.Closed)
{
var loopClosingBatch = new ObiStretchShearConstraintsBatch();
stretchShearConstraintsData.AddBatch(loopClosingBatch);
Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
Vector3 d = positions[indices.y] - positions[indices.x];
restLengths[m_ActiveParticleCount - 2] = d.magnitude;
frame.Transport(positions[indices.x], d.normalized, 0);
orientations[m_ActiveParticleCount - 1] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
restOrientations[m_ActiveParticleCount - 1] = orientations[m_ActiveParticleCount - 1];
loopClosingBatch.AddConstraint(indices, indices.x, restLengths[m_ActiveParticleCount - 2], Quaternion.identity);
loopClosingBatch.activeConstraintCount++;
}
// Recalculate rest length:
m_RestLength = 0;
foreach (float length in restLengths)
{
m_RestLength += length;
}
}
public ObiStretchShearConstraintsBatch(ObiStretchShearConstraintsData constraints = null, ObiStretchShearConstraintsBatch source = null) : base(source)
{
m_Constraints = constraints;
}
public ObiStretchShearConstraintsBatch(ObiStretchShearConstraintsBatch source = null) : base(source)
{
}