public static void SolveClusters(AlignedSoftBodyArray bodies)
{
btSoftBody_solveClusters(bodies._native);
}
// Create a sequence of flag objects and add them to the world.
void CreateFlag(int width, int height, out AlignedSoftBodyArray flags)
{
flags = new AlignedSoftBodyArray();
// First create a triangle mesh to represent a flag
// Allocate a simple mesh consisting of a vertex array and a triangle index array
IndexedMesh mesh = new IndexedMesh();
mesh.NumVertices = width * height;
mesh.NumTriangles = 2 * (width - 1) * (height - 1);
Vector3Array vertexArray = new Vector3Array(mesh.NumVertices);
mesh.Vertices = vertexArray;
mesh.VertexStride = Vector3.SizeInBytes;
IntArray triangleVertexIndexArray = new IntArray(3 * mesh.NumTriangles);
mesh.TriangleIndices = triangleVertexIndexArray;
mesh.TriangleIndexStride = sizeof(int) * 3;
// Generate normalised object space vertex coordinates for a rectangular flag
Matrix defaultScale = Matrix.Scaling(5, 20, 1);
for (int y = 0; y < height; ++y)
{
float yCoordinate = y * 2.0f / (float)height - 1.0f;
for (int x = 0; x < width; ++x)
{
float xCoordinate = x * 2.0f / (float)width - 1.0f;
Vector3 vertex = new Vector3(xCoordinate, yCoordinate, 0.0f);
vertexArray[y * width + x] = Vector3.TransformCoordinate(vertex, defaultScale);
}
}
// Generate vertex indices for triangles
for (int y = 0; y < (height - 1); ++y)
{
for (int x = 0; x < (width - 1); ++x)
{
// Triangle 0
// Top left of square on mesh
{
int vertex0 = y * width + x;
int vertex1 = vertex0 + 1;
int vertex2 = vertex0 + width;
int triangleIndex = 2 * (y * (width - 1) + x);
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 1) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 2) / sizeof(int) + 2] = vertex2;
}
// Triangle 1
// Bottom right of square on mesh
{
int vertex0 = y * width + x + 1;
int vertex1 = vertex0 + width;
int vertex2 = vertex1 - 1;
int triangleIndex = 2 * y * (width - 1) + 2 * x + 1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 2] = vertex2;
}
}
}
Matrix defaultRotateAndScale = Matrix.RotationX(0.5f);
// Construct the sequence flags applying a slightly different translation to each one to arrange them
// appropriately in the scene.
for (int i = 0; i < numFlags; ++i)
{
float zTranslate = flagSpacing * (i - numFlags / 2);
Vector3 defaultTranslate = new Vector3(0, 20, zTranslate);
Matrix transform = defaultRotateAndScale * Matrix.Translation(defaultTranslate);
SoftBody softBody = CreateFromIndexedMesh(vertexArray, triangleVertexIndexArray, true);
for (int j = 0; j < mesh.NumVertices; ++j)
{
softBody.SetMass(j, 10.0f / mesh.NumVertices);
}
softBody.SetMass((height - 1) * width, 0);
softBody.SetMass((height - 1) * width + width - 1, 0);
softBody.SetMass((height - 1) * width + width / 2, 0);
softBody.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
softBody.Cfg.LF = 0.0005f;
softBody.Cfg.VCF = 0.001f;
softBody.Cfg.DP = 0.0f;
softBody.Cfg.DG = 0.0f;
flags.Add(softBody);
softBody.Transform(transform);
SoftWorld.AddSoftBody(softBody);
}
//delete [] vertexArray;
//delete [] triangleVertexIndexArray;
}
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);
}
// Create a sequence of flag objects and add them to the world.
void CreateFlag(int width, int height, out AlignedSoftBodyArray flags)
{
flags = new AlignedSoftBodyArray();
// First create a triangle mesh to represent a flag
// Allocate a simple mesh consisting of a vertex array and a triangle index array
IndexedMesh mesh = new IndexedMesh();
mesh.NumVertices = width * height;
mesh.NumTriangles = 2 * (width - 1) * (height - 1);
Vector3Array vertexArray = new Vector3Array(mesh.NumVertices);
mesh.Vertices = vertexArray;
mesh.VertexStride = Vector3.SizeInBytes;
IntArray triangleVertexIndexArray = new IntArray(3 * mesh.NumTriangles);
mesh.TriangleIndices = triangleVertexIndexArray;
mesh.TriangleIndexStride = sizeof(int) * 3;
// Generate normalised object space vertex coordinates for a rectangular flag
Matrix defaultScale = Matrix.Scaling(5, 20, 1);
for (int y = 0; y < height; ++y)
{
float yCoordinate = y * 2.0f / (float)height - 1.0f;
for (int x = 0; x < width; ++x)
{
float xCoordinate = x * 2.0f / (float)width - 1.0f;
Vector3 vertex = new Vector3(xCoordinate, yCoordinate, 0.0f);
vertexArray[y * width + x] = Vector3.TransformCoordinate(vertex, defaultScale);
}
}
// Generate vertex indices for triangles
for (int y = 0; y < (height - 1); ++y)
{
for (int x = 0; x < (width - 1); ++x)
{
// Triangle 0
// Top left of square on mesh
{
int vertex0 = y * width + x;
int vertex1 = vertex0 + 1;
int vertex2 = vertex0 + width;
int triangleIndex = 2 * (y * (width - 1) + x);
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 1) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 2) / sizeof(int) + 2] = vertex2;
}
// Triangle 1
// Bottom right of square on mesh
{
int vertex0 = y * width + x + 1;
int vertex1 = vertex0 + width;
int vertex2 = vertex1 - 1;
int triangleIndex = 2 * y * (width - 1) + 2 * x + 1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 2] = vertex2;
}
}
}
Matrix defaultRotateAndScale = Matrix.RotationX(0.5f);
// Construct the sequence flags applying a slightly different translation to each one to arrange them
// appropriately in the scene.
for (int i = 0; i < numFlags; ++i)
{
float zTranslate = flagSpacing * (i - numFlags / 2);
Vector3 defaultTranslate = new Vector3(0, 20, zTranslate);
Matrix transform = defaultRotateAndScale * Matrix.Translation(defaultTranslate);
SoftBody softBody = CreateFromIndexedMesh(vertexArray, triangleVertexIndexArray, true);
for (int j = 0; j < mesh.NumVertices; ++j)
{
softBody.SetMass(j, 10.0f / mesh.NumVertices);
}
softBody.SetMass((height - 1) * width, 0);
softBody.SetMass((height - 1) * width + width - 1, 0);
softBody.SetMass((height - 1) * width + width / 2, 0);
softBody.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
softBody.Cfg.LF = 0.0005f;
softBody.Cfg.VCF = 0.001f;
softBody.Cfg.DP = 0.0f;
softBody.Cfg.DG = 0.0f;
flags.Add(softBody);
softBody.Transform(transform);
SoftWorld.AddSoftBody(softBody);
}
//delete [] vertexArray;
//delete [] triangleVertexIndexArray;
}
