/// <summary>
/// 动态添加鼠标的MehcanicalObject组件至root节点，生成其信息。添加StiffSpringForceField组件，连接目标物体和鼠标MechanicalObject
/// </summary>
private unsafe void MouseDragAdd()
{
if (!SofaPhysics.unityMechanicalObjectInfoDic.ContainsKey(mechanicalObjectName) && !SofaPhysics.sofaMechanicalObjectInfoDic.ContainsKey(mechanicalObjectName))
{
//加入mechanicalObject组件及相关info
double[] dou = new double[3] {
draggingMousePosition.x, draggingMousePosition.y, draggingMousePosition.z
};
SofaPhysicsAPI.AddMechanicalObjectArray(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(mechanicalObjectName), dou, 1);
for (int i = 0; i < SofaPhysics.nodes.Length; i++)
{
if (SofaPhysics.nodes[i].gameObject.name == "root")
{
UnityMechanicalObjectInfo unityMechanicalObjectInfo = new UnityMechanicalObjectInfo(SofaPhysics.nodes[i], mechanicalObjectName);
SofaPhysics.unityMechanicalObjectInfoDic.Add(unityMechanicalObjectInfo.componentName, unityMechanicalObjectInfo);
}
}
foreach (string componentName in SofaPhysics.unityMechanicalObjectInfoDic.Keys)
{
if (mechanicalObjectName == componentName)
{
SofaMechanicalObjectInfo sofaMechanicalObjectInfo = new SofaMechanicalObjectInfo(componentName);
SofaPhysics.sofaMechanicalObjectInfoDic.Add(sofaMechanicalObjectInfo.componentName, sofaMechanicalObjectInfo);
}
}
//加入stiffSpringForceField组件及其Spring
SofaPhysicsAPI.AddStiffSpringForceField(SofaPhysics.ToChar("root"), SofaPhysics.ToChar(stiffSpringForceFieldName), SofaPhysics.ToChar("@./"), SofaPhysics.ToChar(GetSrcPathToRoot()), dragSpringKs, 0.1, 1);
SofaPhysicsAPI.SpringAddToStiffSpringForceField(SofaPhysics.ToChar(stiffSpringForceFieldName), 0, draggingMechanicalObjectPointIndex, dragSpringKs, dragSpringKd, 0);
}
}
/// <summary>
/// 初始化SofaMechanicalObject信息
/// </summary>
private void SofaMechanicalObjectInfoInit()
{
foreach (string componentName in unityMechanicalObjectInfoDic.Keys)
{
SofaMechanicalObjectInfo sofaMechanicalObjectInfo = new SofaMechanicalObjectInfo(componentName);
sofaMechanicalObjectInfoDic.Add(sofaMechanicalObjectInfo.componentName, sofaMechanicalObjectInfo);
}
}
public void Update(SofaMechanicalObjectInfo sofaMechanicalObjectInfo)
{
if (componentName == sofaMechanicalObjectInfo.componentName)
{
verticesPosition = new Vector3[sofaMechanicalObjectInfo.verticesAmount];
for (int i = 0; i < sofaMechanicalObjectInfo.verticesAmount; i++)
{
verticesPosition[i].x = sofaMechanicalObjectInfo.verticesPosition[i * 3 + 0];
verticesPosition[i].y = sofaMechanicalObjectInfo.verticesPosition[i * 3 + 1];
verticesPosition[i].z = sofaMechanicalObjectInfo.verticesPosition[i * 3 + 2];
}
triangleTopology = new int[sofaMechanicalObjectInfo.triangleAmount * 3];
for (int i = 0; i < sofaMechanicalObjectInfo.triangleAmount; i++)
{
//1triangletopology = 3 vertices
//1triangletopology = 1 triangles
//由topology生成vertice！
triangleTopology[i * 3 + 0] = sofaMechanicalObjectInfo.triangleTopology[i * 3 + 0];
triangleTopology[i * 3 + 1] = sofaMechanicalObjectInfo.triangleTopology[i * 3 + 1];
triangleTopology[i * 3 + 2] = sofaMechanicalObjectInfo.triangleTopology[i * 3 + 2];
}
quadTopology = new int[sofaMechanicalObjectInfo.quadAmount * 6];
for (int i = 0; i < sofaMechanicalObjectInfo.quadAmount; i++)
{
//1quadtopology = 6 vertices
//1quadtopology = 2 triangles
//由topology生成vertice！
quadTopology[i * 6 + 0] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 0];
quadTopology[i * 6 + 1] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 1];
quadTopology[i * 6 + 2] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 2];
quadTopology[i * 6 + 3] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 2];
quadTopology[i * 6 + 4] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 3];
quadTopology[i * 6 + 5] = sofaMechanicalObjectInfo.quadTopology[i * 4 + 0];
}
tetrahedraTopology = new int[sofaMechanicalObjectInfo.tetrahedraAmount * 12];
for (int i = 0; i < sofaMechanicalObjectInfo.tetrahedraAmount; i++)
{
//1tetrahedratopology = 12 vertices
//1tetrahedratopology = 4 triangles
//由topology生成vertice！
tetrahedraTopology[i * 12 + 0] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 0];
tetrahedraTopology[i * 12 + 1] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 1];
tetrahedraTopology[i * 12 + 2] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 2];
tetrahedraTopology[i * 12 + 3] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 0];
tetrahedraTopology[i * 12 + 4] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 2];
tetrahedraTopology[i * 12 + 5] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 3];
tetrahedraTopology[i * 12 + 6] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 0];
tetrahedraTopology[i * 12 + 7] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 3];
tetrahedraTopology[i * 12 + 8] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 1];
tetrahedraTopology[i * 12 + 9] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 1];
tetrahedraTopology[i * 12 + 10] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 3];
tetrahedraTopology[i * 12 + 11] = sofaMechanicalObjectInfo.tetrahedraTopology[i * 4 + 2];
}
if (triangleDynamicMesh != null)
{
triangleDynamicMesh.vertices = verticesPosition;
triangleDynamicMesh.triangles = triangleTopology;
triangleDynamicMesh.RecalculateNormals();
triangleMeshCollider.sharedMesh = triangleDynamicMesh;
triangleMeshRenderer.enabled = node.GetComponent <Sofa_MechanicalObject>().isRenderingTriangle;
triangleMeshCollider.enabled = node.GetComponent <Sofa_MechanicalObject>().isTriangleCastingRay;
}
if (quadDynamicMesh != null)
{
quadDynamicMesh.vertices = verticesPosition;
quadDynamicMesh.triangles = quadTopology;
quadDynamicMesh.RecalculateNormals();
quadMeshCollider.sharedMesh = quadDynamicMesh;
quadMeshRenderer.enabled = node.GetComponent <Sofa_MechanicalObject>().isRenderingQuad;
quadMeshCollider.enabled = node.GetComponent <Sofa_MechanicalObject>().isQuadCastingRay;
}
if (tetrahedraDynamicMesh != null)
{
tetrahedraDynamicMesh.vertices = verticesPosition;
tetrahedraDynamicMesh.triangles = tetrahedraTopology;
tetrahedraDynamicMesh.RecalculateNormals();
tetrahedraMeshCollider.sharedMesh = tetrahedraDynamicMesh;
tetrahedraMeshRenderer.enabled = node.GetComponent <Sofa_MechanicalObject>().isRenderingTetrahedra;
tetrahedraMeshCollider.enabled = node.GetComponent <Sofa_MechanicalObject>().isTetrahedraCastingRay;
}
}
else
{
Debug.Log("Unity MechanicalObject Info Update Failed : Soaf MechanicalObject Info Name Not Match.");
}
}