public static Composite CreateBox(Vector2 position, bool pinRandomCorner = true)
{
Composite comp = new Composite();
Vector2 center = position;
float stiffness = 0.25f;
float size = 200f;
Particle c1 = new Particle(center + new Vector2(-size, size));
Particle c2 = new Particle(center + new Vector2(size, size));
Particle c3 = new Particle(center + new Vector2(size, -size));
Particle c4 = new Particle(center + new Vector2(-size, -size));
Constraint e1 = new DistanceConstraint(c1, c2, stiffness);
Constraint e2 = new DistanceConstraint(c2, c3, stiffness);
Constraint e3 = new DistanceConstraint(c3, c4, stiffness);
Constraint e4 = new DistanceConstraint(c4, c1, stiffness);
Constraint e5 = new DistanceConstraint(c1, c3, stiffness);
Constraint e6 = new DistanceConstraint(c2, c4, stiffness);
List <Particle> p = new[] { c1, c2, c3, c4 }.ToList();
List <Constraint> c = new[] { e1, e2, e3, e4, e5, e6 }.ToList();
if (pinRandomCorner)
{
Constraint pin = new PinConstraint(p[Random.Range(0, p.Count())]);
c.Add(pin);
}
comp.particles.AddRange(p);
comp.constraints.AddRange(c);
return(comp);
}
IEnumerator VerletCo()
{
Debug.Break();
yield return(null);
while (true)
{
for (int j = 0; j < verlet.stiffness; ++j)
{
for (int i = 0; i < composite.constraints.Count; i++)
{
IConstraint constraint = composite.constraints[i];
if (constraint is DistanceConstraint)
{
DistanceConstraint dc = constraint as DistanceConstraint;
int i1 = composite.particles.IndexOf(dc.p1);
int i2 = composite.particles.IndexOf(dc.p2);
title.text = "Iteration:" + (j + 1) + "/" + verlet.stiffness + " Relax nodes: " + (i1 + 1) + " and " + (i2 + 1);
links[i].GetComponent <Image>().color = Color.red;
}
else if (constraint is PinConstraint)
{
PinConstraint pc = constraint as PinConstraint;
int index = composite.particles.IndexOf(pc.p);
title.text = "Iteration:" + (j + 1) + "/" + verlet.stiffness + " Pin node: " + (index + 1);
}
else
{
title.text = "";
}
constraint.Relax();
UpdateView();
UpdateLinks();
yield return(null);
if (i < links.Count)
{
links[i].GetComponent <Image>().color = linkPrefab.GetComponent <Image>().color;;
}
}
}
for (int i = 0; i < verlet.composites[0].particles.Count; ++i)
{
title.text = "Move node: " + (i + 1);
Particle p = verlet.composites[0].particles[i];
p.Move(verlet.friction, verlet.gravity);
arrow.gameObject.SetActive(true);
arrow.transform.position = p.pos;
arrow.transform.rotation = Quaternion.LookRotation(Vector3.back, p.pos - p.lastPos);
UpdateView();
UpdateLinks();
yield return(null);
arrow.gameObject.SetActive(false);
}
}
}
private void AddDistance(int p1, int p2)
{
DistanceConstraint dc = new DistanceConstraint(bodies[p1], bodies[p2], bodies[p1].position, bodies[p2].position);
dc.Softness = 2f;
dc.BiasFactor = 0.1f;
world.AddConstraint(dc);
this.constraints.Add(dc);
}
public void RemoveConstraint(DistanceConstraint constr)
{
if (SimulationSettings.LayerNames.Contains(constr.UpdateLayer) == false)
{
Debug.Log("Tried to Remove update func by layer name " + constr.UpdateLayer + " which des not exist, GameObject: " + constr.name);
return;
}
ConstrUpdates[constr.UpdateLayer].Remove(constr);
AllConstraints.Remove(constr);
}
public GameObject RebuildCompositeModel(Composite comp)
{
if (compObDict.ContainsKey(comp))
{
Destroy(compObDict[comp]);
}
foreach (Particle p in comp.particles)
{
partObDict.Remove(p);
}
var bodyGameOb = new GameObject("comp");
foreach (Particle p in comp.particles)
{
var particleGameOb = new GameObject("particle");
particleGameOb.transform.parent = bodyGameOb.transform;
var verletPoint = particleGameOb.AddComponent <VerletPoint>();
verletPoint.particle = p;
verletPoint.parentComp = comp;
partObDict.Add(p, particleGameOb);
}
foreach (Constraint c in comp.constraints)
{
DistanceConstraint dc = c as DistanceConstraint;
if (dc != null)
{
var constraintGameOb = new GameObject("constraint");
constraintGameOb.transform.parent = bodyGameOb.transform;
var verletConstraint = constraintGameOb.AddComponent <VerletConstraint>();
verletConstraint.p1 = partObDict[dc.a].GetComponent <VerletPoint>();
verletConstraint.p2 = partObDict[dc.b].GetComponent <VerletPoint>();
verletConstraint.parentComp = comp;
verletConstraint.constraint = c;
var lineRenderer = constraintGameOb.AddComponent <MagLineRenderer>();
lineRenderer.p1 = partObDict[dc.a].transform;
lineRenderer.p2 = partObDict[dc.b].transform;
compositeConstraintCounts[comp] += 1;
}
}
var vBody = bodyGameOb.AddComponent <VerletBody>();
vBody.body = comp;
return(bodyGameOb);
}
Composite MakeSpinalComposite(float length, int rimbNum, Vector2 rootPosition, float angle)
{
if (rimbNum <= 1)
{
throw new System.ArgumentException("rimbNumは\"2\"以上に設定してください。");
}
float boneLength = length / (rimbNum + 1);
var composite = new Composite();
List <int> particleIndices = new List <int>();
List <int> gravityIndices = new List <int>();
List <int> springIndices = new List <int>();
Vector2 direction = AngleToVec2(angle);
var tp = new Particle(rootPosition);
particleIndices.Add(composite.elemNum);
composite.AddSimElement(tp, 0);
var g = new ConstantForceConstraint(tp, gravity);
gravityIndices.Add(composite.elemNum);
composite.AddSimElement(g, 5);
//var sinWave = new SinWaveForce(tp, Vector2.right, amplitude, timeScale, 0f);
//composite.simElements.Add(sinWave);
for (int i = 1; i < rimbNum; ++i)
{
var p = new Particle(rootPosition + direction * boneLength * i, damping);
particleIndices.Add(composite.elemNum);
composite.AddSimElement(p, 0);
// var s = new SpringConstraint(tp, p);
var s = new DistanceConstraint(tp, p);
springIndices.Add(composite.elemNum);
composite.AddSimElement(s, 1);
g = new ConstantForceConstraint(p, gravity);
gravityIndices.Add(composite.elemNum);
composite.AddSimElement(g, 5);
tp = p;
}
composite.AddRenderingGroup(new SimRenderer.SimRenderingGroup(1, springIndices));
composite.AddRenderingGroup(new SimRenderer.SimRenderingGroup(2, gravityIndices));
composite.AddRenderingGroup(new SimRenderer.SimRenderingGroup(0, particleIndices));
return(composite);
}
public void BuildComposite()
{
Debug.Log("Built composite");
body = new Composite();
VerletHandler.Instance.compObDict.Add(body, gameObject);
VerletHandler.Instance.compositeConstraintCounts.Add(body, 0);
VerletPoint[] childPoints = GetComponentsInChildren <VerletPoint>();
//Create verts
List <Particle> particles = new List <Particle>();
foreach (VerletPoint p in childPoints)
{
var particle = new Particle(new Vector2(p.transform.position.x, p.transform.position.y));
if (p.Anchored)
{
body.constraints.Add(new PinConstraint(particle));
}
p.parentComp = body;
VerletHandler.Instance.partObDict.Add(particle, p.gameObject);
p.particle = particle;
particles.Add(particle);
body.particles.Add(particle);
}
VerletConstraint[] childConstraints = GetComponentsInChildren <VerletConstraint>();
//Link em up
foreach (VerletConstraint e in childConstraints)
{
Constraint c = new DistanceConstraint(e.p1.particle, e.p2.particle, e.stiffness);
body.constraints.Add(c);
VerletHandler.Instance.compositeConstraintCounts[body] += 1;
e.parentComp = body;
e.constraint = c;
}
VerletHandler.Instance.World.composites.Add(body);
}
DistanceConstraint GetClosestConstraint(DistanceConstraint except, out float closestDist, float maxDistance = float.MaxValue)
{
DistanceConstraint closest = null;
closestDist = float.MaxValue;
foreach (var constr in SystemUpdater.AllConstraints)
{
if (except == constr)
{
continue;
}
float dist = Vector3.Distance(constr.transform.position, HandlePoint.position);
if (dist < closestDist && dist < maxDistance)
{
closestDist = dist;
closest = constr;
}
}
return(closest);
}
public static void AdjustNodesByConstraints()
{
VerletNode[] nodes = Object.FindObjectsOfType <VerletNode>();
DistanceConstraint[] constraints = Object.FindObjectsOfType <DistanceConstraint>();
foreach (var node in nodes)
{
if (node.FixedPosition)
{
continue;
}
DistanceConstraint c1 = null;
DistanceConstraint c2 = null;
foreach (var distConst in constraints)
{
if (distConst.Node1 == node || distConst.Node2 == node)
{
c1 = distConst;
}
}
foreach (var distConst in constraints)
{
if (distConst == c1)
{
continue;
}
if (distConst.Node1 == node || distConst.Node2 == node)
{
c2 = distConst;
}
}
if (c1 != null && c2 != null)
{
node.transform.position = (c1.transform.position + c2.transform.position) / 2;
}
}
}
protected void InitPbdWorld()
{
world.AddParticle(new Particle(segments[0], MassPerSegment));
world.AddStaticConstraint(new AttachConstraint(0, this.transform, Vector3.zero));
world.particles[0].useGravity = false;
for (int i = 1; i < segments.Length; i++)
{
world.AddParticle(new Particle(segments[i], MassPerSegment));
var C = new DistanceConstraint(i - 1, i, SegmentLength);
C.relation = Constraint.Relation.Equ;
world.AddConstraint(new DistanceConstraint(i - 1, i, SegmentLength));
}
switch (longRangeConstraintsMode)
{
case LongRangeConstraintsMode.None:
break;
case LongRangeConstraintsMode.Linear:
for (int i = 2; i < segments.Length; i *= 2)
{
for (int j = i; j < segments.Length; j += i)
{
var C = new DistanceConstraint(j - i, j, SegmentLength * i);
C.relation = Constraint.Relation.Leq;
world.AddConstraint(C);
}
}
break;
case LongRangeConstraintsMode.Normal: // N*log(N)
for (int i = 2; i < segments.Length; i *= 2)
{
for (int j = i; j < segments.Length; j++)
{
var C = new DistanceConstraint(j - i, j, SegmentLength * i);
C.relation = Constraint.Relation.Leq;
world.AddConstraint(C);
}
}
break;
case LongRangeConstraintsMode.Dense: // N*(N-1)/2
for (int i = 0; i < segments.Length; i++)
{
for (int j = i + 2; j < segments.Length; j++)
{
var C = new DistanceConstraint(i, j, SegmentLength * (j - i));
C.relation = Constraint.Relation.Leq;
world.AddConstraint(C);
}
}
break;
}
switch (solverType)
{
case SolverType.GaussSeidel:
world.solver = new GaussSeidelSolver();
break;
case SolverType.BackAndForth:
world.solver = new BackAndForthSolver();
break;
}
}
public void RemoveConstraint(DistanceConstraint constr)
{
_Constraints.Remove(constr);
ResetRotationOnConnection = true;
}
public override void Build()
{
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
AddGround();
RigidBody boxb = new RigidBody(new BoxShape(7, 1, 2));
boxb.Position = new JVector(3.0f, 12, 0);
this.Demo.World.AddBody(boxb);
boxb.Tag = BodyTag.DontDrawMe;
boxb.IsStatic = true;
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
//this.Demo.World.SetDampingFactors(1.0f, 1.0f);
SphereShape shape = new SphereShape(0.501f);
for (int i = 0; i < 7; i++)
{
RigidBody body = new RigidBody(shape);
body.Position = new JVector(i, 6, 0);
DistanceConstraint dc1 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Backward * 5 + JVector.Down * 0.5f, body.Position);
dc1.Softness = 1.0f;
DistanceConstraint dc2 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Forward * 5 + JVector.Down * 0.5f, body.Position);
dc2.Softness = 1.0f;
dc1.BiasFactor = dc2.BiasFactor = 0.8f;
dc1.IsMaxDistance = dc2.IsMaxDistance = false;
this.Demo.World.AddBody(body);
this.Demo.World.AddConstraint(dc1);
this.Demo.World.AddConstraint(dc2);
body.Restitution = 1.0f;
body.StaticFriction = 1.0f;
// this.Demo.World.SetDampingFactors(1.0f, 1.0f);
}
//for (int i = 0; i < 5; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, i);
// this.Demo.World.AddBody(sBody);
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//for (int i = 0; i < 3; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, 10 + i);
// this.Demo.World.AddBody(sBody);
// sBody.LinearVelocity = JVector.Forward * 3;
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//this.Demo.World.SetDampingFactors(1, 1);
}
private void AddDistance(int p1, int p2)
{
DistanceConstraint dc = new DistanceConstraint(bodies[p1], bodies[p2], bodies[p1].position, bodies[p2].position);
dc.Softness = 2f;
dc.BiasFactor = 0.1f;
world.AddConstraint(dc);
this.constraints.Add(dc);
}
public void AddConstraint(DistanceConstraint constr)
{
_Constraints.Add(constr);
ResetRotationOnConnection = true;
}
DistanceConstraint GetClosestConstraint(DistanceConstraint except, out float closestDist, float maxDistance = float.MaxValue)
{
DistanceConstraint closest = null;
closestDist = float.MaxValue;
foreach (var constr in SystemUpdater.AllConstraints)
{
if (except == constr)
continue;
float dist = Vector3.Distance(constr.transform.position, HandlePoint.position);
if (dist < closestDist && dist < maxDistance)
{
closestDist = dist;
closest = constr;
}
}
return closest;
}
DistanceConstraint GetClosestConstraint(DistanceConstraint except, float maxDistance = float.MaxValue)
{
float dummy;
return GetClosestConstraint(except, out dummy, maxDistance);
}
public void AddConstraint(DistanceConstraint constr)
{
_Constraints.Add(constr);
ResetRotationOnConnection = true;
}
public void RemoveConstraint(DistanceConstraint constr)
{
_Constraints.Remove(constr);
ResetRotationOnConnection = true;
}
public void SetUpdateConstraint(DistanceConstraint constr)
{
if (SimulationSettings.LayerNames.Contains(constr.UpdateLayer) == false)
{
Debug.Log("Tried to add update func by layer name " + constr.UpdateLayer + " which des not exist, GameObject: " + constr.name);
return;
}
ConstrUpdates[constr.UpdateLayer].Add(constr);
AllConstraints.Add(constr);
}
private void LoadParticleSystem(string configFile)
{
_particles = new List<Particle>();
_constraints = new List<Constraint>();
XmlDocument doc = new XmlDocument();
doc.Load(configFile);
// load transforms
Vector3 translation = GetVectorFromString(doc.SelectSingleNode("/ParticleSystem/Transform").Attributes["Translation"].Value);
Vector3 scale = GetVectorFromString(doc.SelectSingleNode("/ParticleSystem/Transform").Attributes["Scale"].Value);
// load particles
foreach (XmlElement particleElement in doc.SelectNodes("/ParticleSystem/Particles/Particle"))
{
Vector3 position = GetVectorFromString(particleElement.Attributes["Position"].Value);
position *= scale;
position += translation;
Particle particle = new Particle(position, this.Game);
if (particleElement.HasAttribute("Mass"))
{
string massString = particleElement.Attributes["Mass"].Value;
if (massString == "INFINITE_MASS")
particle.Mass = Particle.INFINITE_MASS;
else
particle.Mass = Convert.ToSingle(massString);
}
_particles.Add(particle);
}
// load constraints
foreach (XmlElement constraintElement in doc.SelectNodes("/ParticleSystem/Constraints/*"))
{
string constraintType = constraintElement.Name;
Constraint constraint = null;
switch (constraintType)
{
case "DistanceConstraint" :
Particle particleA = _particles[Convert.ToInt32(constraintElement.Attributes["ParticleA"].Value)];
Particle particleB = _particles[Convert.ToInt32(constraintElement.Attributes["ParticleB"].Value)];
float restLength;
if (constraintElement.HasAttribute("RestLength"))
restLength = Convert.ToSingle(constraintElement.Attributes["RestLength"].Value);
else
restLength = Vector3.Distance(particleA.Position, particleB.Position);
constraint = new DistanceConstraint(this, particleA, particleB, restLength);
if (constraintElement.HasAttribute("Stiffness"))
constraint.Stiffness = Convert.ToSingle(constraintElement.Attributes["Stiffness"].Value);
break;
}
if (constraint != null)
_constraints.Add(constraint);
}
}
// Use this for initialization
void Start()
{
var sd = GetComponent <RectTransform>().sizeDelta;
for (int i = 0; i < numberOfParticles; ++i)
{
GameObject circle = Instantiate(circlePrefab);
circle.GetComponentInChildren <Text>().text = (i + 1).ToString();
circle.GetComponent <RectTransform>().anchoredPosition = new Vector3(0, sd.y / 2 - i * sd.y / (numberOfParticles - 1), 0);
circles.Add(circle);
GameObject prevCircle = Instantiate(prevCirclePrefab);
prevCircle.GetComponentInChildren <Text>().text = (i + 1).ToString();
prevCircle.GetComponent <RectTransform>().anchoredPosition = circle.GetComponent <RectTransform>().anchoredPosition;
prevCircles.Add(prevCircle);
if (i > 0)
{
GameObject link = Instantiate(linkPrefab);
link.transform.position = circle.transform.position;
links.Add(link);
}
}
foreach (var link in links)
{
link.transform.SetParent(this.transform, false);
}
foreach (var prevCircle in prevCircles)
{
prevCircle.transform.SetParent(this.transform, false);
}
foreach (var circle in circles)
{
circle.transform.SetParent(this.transform, false);
}
composite = new Composite();
for (int i = 0; i < circles.Count; ++i)
{
Particle p = new Particle(circles[i].transform.position);
composite.particles.Add(p);
startingPositions.Add(p.pos);
}
for (int i = 1; i < composite.particles.Count; ++i)
{
DistanceConstraint dc = new DistanceConstraint(composite.particles[i - 1], composite.particles[i], 1f);
composite.constraints.Add(dc);
}
PinConstraint pc = new PinConstraint(composite.particles[0]);
composite.constraints.Add(pc);
verlet.composites.Add(composite);
startButton.onClick.AddListener(OnStart);
}
public override void Build()
{
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
AddGround();
RigidBody boxb = new RigidBody(new BoxShape(7,1,2));
boxb.Position = new JVector(3.0f,12,0);
this.Demo.World.AddBody(boxb);
boxb.Tag = BodyTag.DontDrawMe;
boxb.IsStatic = true;
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
//this.Demo.World.SetDampingFactors(1.0f, 1.0f);
SphereShape shape = new SphereShape(0.501f);
for (int i = 0; i < 7; i++)
{
RigidBody body = new RigidBody(shape);
body.Position = new JVector(i, 6, 0);
DistanceConstraint dc1 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Backward * 5 + JVector.Down * 0.5f, body.Position);
dc1.Softness = 1.0f;
DistanceConstraint dc2 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Forward * 5 + JVector.Down * 0.5f, body.Position);
dc2.Softness = 1.0f;
dc1.BiasFactor = dc2.BiasFactor = 0.8f;
dc1.IsMaxDistance = dc2.IsMaxDistance = false;
this.Demo.World.AddBody(body);
this.Demo.World.AddConstraint(dc1);
this.Demo.World.AddConstraint(dc2);
body.Restitution = 1.0f;
body.StaticFriction = 1.0f;
// this.Demo.World.SetDampingFactors(1.0f, 1.0f);
}
//for (int i = 0; i < 5; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, i);
// this.Demo.World.AddBody(sBody);
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//for (int i = 0; i < 3; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, 10 + i);
// this.Demo.World.AddBody(sBody);
// sBody.LinearVelocity = JVector.Forward * 3;
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//this.Demo.World.SetDampingFactors(1, 1);
}
DistanceConstraint GetClosestConstraint(DistanceConstraint except, float maxDistance = float.MaxValue)
{
float dummy;
return(GetClosestConstraint(except, out dummy, maxDistance));
}
