private void OnDrawGizmos()
{
if (_frames != null)
{
for (int i = 0; i < ParametrizationCount; ++i)
{
Vector3 pos = _frames[i].Position;
Gizmos.color = Color.red;
if (DrawTangents)
{
Gizmos.DrawLine(pos, pos + _frames[i].Tangent * .5f);
}
Gizmos.color = Color.green;
if (DrawNormals)
{
Gizmos.DrawLine(pos, pos + _frames[i].Normal * .5f);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(pos, .05f);
}
if (DrawCurvatures)
{
Gizmos.color = Color.yellow;
CurveFrame frame = _frames[CurvatureIndex];
float rad = 1f / _curvatures[CurvatureIndex];
Circle3 circle = new Circle3(frame.Position + frame.Normal * rad, frame.Binormal, rad);
DrawCircle(ref circle, 100);
}
}
}
public override void TransportFrame(CurveFrame frame, CurveSection section, float sectionTwist)
{
if (frame != null)
{
frame.Transport(section, sectionTwist);
}
}
/// <summary>
/// Sets up this control point
/// </summary>
public SplineControlPoint( Curve owner, int index )
{
m_Owner = owner;
m_Index = index;
m_Frame = m_Owner.EvaluateFrame( index );
owner.OnChangedEvent += OnOwnerSplineChanged;
}
public override void UpdateTearPrefab(CurveFrame frame, ref int tearCount, bool reverseLookDirection)
{
if (tearPrefabPool != null && tearCount < tearPrefabPool.Length)
{
if (!tearPrefabPool[tearCount].activeSelf)
{
tearPrefabPool[tearCount].SetActive(true);
}
PlaceObjectAtCurveFrame(frame, tearPrefabPool[tearCount], Space.Self, reverseLookDirection);
tearCount++;
}
}
public void PlaceObjectAtCurveFrame(CurveFrame frame, GameObject obj, Space space, bool reverseLookDirection)
{
if (space == Space.Self)
{
Matrix4x4 l2w = transform.localToWorldMatrix;
obj.transform.position = l2w.MultiplyPoint3x4(frame.position);
if (frame.tangent != Vector3.zero)
{
obj.transform.rotation = Quaternion.LookRotation(l2w.MultiplyVector(reverseLookDirection ? frame.tangent:-frame.tangent),
l2w.MultiplyVector(frame.normal));
}
}
else
{
obj.transform.position = frame.position;
if (frame.tangent != Vector3.zero)
{
obj.transform.rotation = Quaternion.LookRotation(reverseLookDirection ? frame.tangent:-frame.tangent, frame.normal);
}
}
}
public void LateUpdate()
{
ClearMeshData();
if (section == null)
{
return;
}
IList <List <Vector3> > segments = cable.sampledCable.Segments;
int sectionSegments = section.Segments;
int verticesPerSection = sectionSegments + 1; // the last vertex in each section must be duplicated, due to uv wraparound.
float vCoord = -uvScale.y * cable.RestLength; // v texture coordinate.
int sectionIndex = 0;
float strain = cable.sampledCable.Length / cable.RestLength;
// we will define and transport a reference frame along the curve using parallel transport method:
if (frame == null)
{
frame = new CurveFrame();
}
Vector4 texTangent = Vector4.zero;
Vector2 uv = Vector2.zero;
Matrix4x4 w2l = transform.worldToLocalMatrix;
for (int k = 0; k < segments.Count; ++k)
{
List <Vector3> samples = segments[k];
// Reinitialize frame for each segment.
frame.Reset();
for (int i = 0; i < samples.Count; ++i)
{
// Calculate previous and next curve indices:
int nextIndex = Mathf.Min(i + 1, samples.Count - 1);
int prevIndex = Mathf.Max(i - 1, 0);
Vector3 point = w2l.MultiplyPoint3x4(samples[i]);
Vector3 prevPoint = w2l.MultiplyPoint3x4(samples[prevIndex]);
Vector3 nextPoint = w2l.MultiplyPoint3x4(samples[nextIndex]);
Vector3 nextV = (nextPoint - point).normalized;
Vector3 prevV = (point - prevPoint).normalized;
Vector3 tangent = nextV + prevV;
// update frame:
frame.Transport(point, tangent, 0);
// advance v texcoord:
vCoord += uvScale.y * (Vector3.Distance(point, prevPoint) / strain);
// Loop around each segment:
for (int j = 0; j <= sectionSegments; ++j)
{
vertices.Add(frame.position + (section.vertices[j].x * frame.normal + section.vertices[j].y * frame.binormal) * thickness);
normals.Add(vertices[vertices.Count - 1] - frame.position);
texTangent = -Vector3.Cross(normals[normals.Count - 1], frame.tangent);
texTangent.w = 1;
tangents.Add(texTangent);
uv.Set((j / (float)sectionSegments) * uvScale.x, vCoord);
uvs.Add(uv);
if (j < sectionSegments && i < samples.Count - 1)
{
tris.Add(sectionIndex * verticesPerSection + j);
tris.Add(sectionIndex * verticesPerSection + (j + 1));
tris.Add((sectionIndex + 1) * verticesPerSection + j);
tris.Add(sectionIndex * verticesPerSection + (j + 1));
tris.Add((sectionIndex + 1) * verticesPerSection + (j + 1));
tris.Add((sectionIndex + 1) * verticesPerSection + j);
}
}
sectionIndex++;
}
}
CommitMeshData();
}
/**
* Updates mesh for one trail segment:
*/
private void UpdateSegmentMesh(List <Point> input, int start, int end, Vector3 localCamPosition)
{
// Get a list of the actual points to render: either the original, unsmoothed points or the smoothed curve.
List <Point> trail = GetRenderablePoints(input, start, end);
if (trail.Count > 1)
{
float lenght = Mathf.Max(GetLenght(trail), epsilon);
float partialLenght = 0;
float vCoord = textureMode == TextureMode.Stretch ? 0 : -uvFactor * lenght * tileAnchor;
Vector4 texTangent = Vector4.zero;
Vector2 uv = Vector2.zero;
Color vertexColor;
bool hqCorners = highQualityCorners && alignment != TrailAlignment.Local;
// Initialize curve frame using the first two points to calculate the first tangent vector:
CurveFrame frame = InitializeCurveFrame(trail[trail.Count - 1].position,
trail[trail.Count - 2].position);
int va = 1;
int vb = 0;
for (int i = trail.Count - 1; i >= 0; --i)
{
// Calculate next and previous point indices:
int nextIndex = Mathf.Max(i - 1, 0);
int prevIndex = Mathf.Min(i + 1, trail.Count - 1);
// Calculate next and previous trail vectors:
Vector3 nextV = trail[nextIndex].position - trail[i].position;
Vector3 prevV = trail[i].position - trail[prevIndex].position;
float sectionLength = nextV.magnitude;
nextV.Normalize();
prevV.Normalize();
// Calculate tangent vector:
Vector3 tangent = alignment == TrailAlignment.Local ? trail[i].tangent : (nextV + prevV);
tangent.Normalize();
// Calculate normal vector:
Vector3 normal = trail[i].normal;
if (alignment != TrailAlignment.Local)
{
normal = alignment == TrailAlignment.View ? localCamPosition - trail[i].position: frame.Transport(tangent, trail[i].position);
}
normal.Normalize();
// Calculate bitangent vector:
Vector3 bitangent = alignment == TrailAlignment.Velocity ? frame.bitangent : Vector3.Cross(tangent, normal);
bitangent.Normalize();
// Calculate this point's normalized (0,1) lenght and life.
float normalizedLength = partialLenght / lenght;
float normalizedLife = Mathf.Clamp01(1 - trail[i].life / time);
partialLenght += sectionLength;
// Calulate vertex color:
vertexColor = trail[i].color *
colorOverTime.Evaluate(normalizedLife) *
colorOverLenght.Evaluate(normalizedLength);
// Update vcoord:
vCoord += uvFactor * (textureMode == TextureMode.Stretch ? sectionLength / lenght : sectionLength);
// Calulate final thickness:
float sectionThickness = thickness * trail[i].thickness * thicknessOverTime.Evaluate(normalizedLife) * thicknessOverLenght.Evaluate(normalizedLength);
Quaternion q = Quaternion.identity;
Vector3 corner = Vector3.zero;
float curvatureSign = 0;
float correctedThickness = sectionThickness;
Vector3 prevSectionBitangent = bitangent;
// High-quality corners:
if (hqCorners)
{
Vector3 nextSectionBitangent = i == 0 ? bitangent : Vector3.Cross(nextV, Vector3.Cross(bitangent, tangent)).normalized;
// If round corners are enabled:
if (cornerRoundness > 0)
{
prevSectionBitangent = i == trail.Count - 1 ? -bitangent : Vector3.Cross(prevV, Vector3.Cross(bitangent, tangent)).normalized;
// Calculate "elbow" angle:
curvatureSign = (i == 0 || i == trail.Count - 1) ? 1 : Mathf.Sign(Vector3.Dot(nextV, -prevSectionBitangent));
float angle = (i == 0 || i == trail.Count - 1) ? Mathf.PI : Mathf.Acos(Mathf.Clamp(Vector3.Dot(nextSectionBitangent, prevSectionBitangent), -1, 1));
// Prepare a quaternion for incremental rotation of the corner vector:
q = Quaternion.AngleAxis(Mathf.Rad2Deg * angle / cornerRoundness, normal * curvatureSign);
corner = prevSectionBitangent * sectionThickness * curvatureSign;
}
// Calculate correct thickness by projecting corner bitangent onto the next section bitangent. This prevents "squeezing"
if (nextSectionBitangent.sqrMagnitude > 0.1f)
{
correctedThickness = sectionThickness / Mathf.Max(Vector3.Dot(bitangent, nextSectionBitangent), 0.15f);
}
}
// Append straight section mesh data:
if (hqCorners && cornerRoundness > 0)
{
// bitangents are slightly asymmetrical in case of high-quality round or sharp corners:
if (curvatureSign > 0)
{
vertices.Add(trail[i].position + prevSectionBitangent * sectionThickness);
vertices.Add(trail[i].position - bitangent * correctedThickness);
}
else
{
vertices.Add(trail[i].position + bitangent * correctedThickness);
vertices.Add(trail[i].position - prevSectionBitangent * sectionThickness);
}
}
else
{
vertices.Add(trail[i].position + bitangent * correctedThickness);
vertices.Add(trail[i].position - bitangent * correctedThickness);
}
normals.Add(-normal);
normals.Add(-normal);
texTangent = -bitangent;
texTangent.w = 1;
tangents.Add(texTangent);
tangents.Add(texTangent);
vertColors.Add(vertexColor);
vertColors.Add(vertexColor);
uv.Set(vCoord, 0);
uvs.Add(uv);
uv.Set(vCoord, 1);
uvs.Add(uv);
if (i < trail.Count - 1)
{
int vc = vertices.Count - 1;
tris.Add(vc);
tris.Add(va);
tris.Add(vb);
tris.Add(vb);
tris.Add(vc - 1);
tris.Add(vc);
}
va = vertices.Count - 1;
vb = vertices.Count - 2;
// Append smooth corner mesh data:
if (hqCorners && cornerRoundness > 0)
{
for (int p = 0; p <= cornerRoundness; ++p)
{
vertices.Add(trail[i].position + corner);
normals.Add(-normal);
tangents.Add(texTangent);
vertColors.Add(vertexColor);
uv.Set(vCoord, curvatureSign > 0?0:1);
uvs.Add(uv);
int vc = vertices.Count - 1;
tris.Add(vc);
tris.Add(va);
tris.Add(vb);
if (curvatureSign > 0)
{
vb = vc;
}
else
{
va = vc;
}
// rotate corner point:
corner = q * corner;
}
}
}
}
}
/**
* Generates the particle based physical representation of the rope. This is the initialization method for the rope object
* and should not be called directly once the object has been created.
*/
protected override IEnumerator Initialize()
{
initialized = false;
initializing = true;
interParticleDistance = -1;
RemoveFromSolver(null);
if (ropePath == null)
{
Debug.LogError("Cannot initialize rope. There's no ropePath present. Please provide a spline to define the shape of the rope");
yield break;
}
ropePath.RecalculateSplineLenght(0.00001f, 7);
closed = ropePath.closed;
restLength = ropePath.Length;
usedParticles = Mathf.CeilToInt(restLength / thickness * resolution) + (closed ? 0:1);
totalParticles = usedParticles;
active = new bool[totalParticles];
positions = new Vector3[totalParticles];
orientations = new Quaternion[totalParticles];
velocities = new Vector3[totalParticles];
angularVelocities = new Vector3[totalParticles];
invMasses = new float[totalParticles];
invRotationalMasses = new float[totalParticles];
principalRadii = new Vector3[totalParticles];
phases = new int[totalParticles];
restPositions = new Vector4[totalParticles];
restOrientations = new Quaternion[totalParticles];
colors = new Color[totalParticles];
int numSegments = usedParticles - (closed ? 0:1);
if (numSegments > 0)
{
interParticleDistance = restLength / (float)numSegments;
}
else
{
interParticleDistance = 0;
}
float radius = interParticleDistance * resolution;
for (int i = 0; i < usedParticles; i++)
{
active[i] = true;
invMasses[i] = 1.0f / DEFAULT_PARTICLE_MASS;
invRotationalMasses[i] = 1.0f / DEFAULT_PARTICLE_ROTATIONAL_MASS;
float mu = ropePath.GetMuAtLenght(interParticleDistance * i);
positions[i] = transform.InverseTransformPoint(ropePath.transform.TransformPoint(ropePath.GetPositionAt(mu)));
principalRadii[i] = Vector3.one * radius;
phases[i] = Oni.MakePhase(1, selfCollisions?Oni.ParticlePhase.SelfCollide:0);
colors[i] = Color.white;
if (i % 100 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)usedParticles));
}
}
StretchShearConstraints.Clear();
ObiStretchShearConstraintBatch stretchBatch = new ObiStretchShearConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
StretchShearConstraints.AddBatch(stretchBatch);
// rotation minimizing frame:
CurveFrame frame = new CurveFrame();
frame.Reset();
for (int i = 0; i < numSegments; i++)
{
int next = (i + 1) % (ropePath.closed ? usedParticles:usedParticles + 1);
float mu = ropePath.GetMuAtLenght(interParticleDistance * i);
Vector3 normal = transform.InverseTransformVector(ropePath.transform.TransformVector(ropePath.GetNormalAt(mu)));
frame.Transport(positions[i], (positions[next] - positions[i]).normalized, 0);
orientations[i] = Quaternion.LookRotation(frame.tangent, normal);
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[next] = orientations[i];
restOrientations[next] = orientations[i];
stretchBatch.AddConstraint(i, next, interParticleDistance, Vector3.one);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)numSegments));
}
}
BendTwistConstraints.Clear();
ObiBendTwistConstraintBatch twistBatch = new ObiBendTwistConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
BendTwistConstraints.AddBatch(twistBatch);
// the last bend constraint couples the last segment and a phantom segment past the last particle.
for (int i = 0; i < numSegments; i++)
{
int next = (i + 1) % (ropePath.closed ? usedParticles:usedParticles + 1);
Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[i], orientations[next]) : Quaternion.identity;
twistBatch.AddConstraint(i, next, darboux, Vector3.one);
if (i % 500 == 0)
{
yield return(new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)numSegments));
}
}
ChainConstraints.Clear();
ObiChainConstraintBatch chainBatch = new ObiChainConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
ChainConstraints.AddBatch(chainBatch);
int[] indices = new int[usedParticles + (closed ? 1:0)];
for (int i = 0; i < usedParticles; ++i)
{
indices[i] = i;
}
// Add the first particle as the last index of the chain, if closed.
if (closed)
{
indices[usedParticles] = 0;
}
chainBatch.AddConstraint(indices, interParticleDistance, 1, 1);
// Initialize tether constraints:
TetherConstraints.Clear();
// Initialize pin constraints:
PinConstraints.Clear();
ObiPinConstraintBatch pinBatch = new ObiPinConstraintBatch(false, false, MIN_YOUNG_MODULUS, MAX_YOUNG_MODULUS);
PinConstraints.AddBatch(pinBatch);
initializing = false;
initialized = true;
RegenerateRestPositions();
}
public abstract void TransportFrame(CurveFrame frame, CurveSection section, float sectionTwist);
public virtual void UpdateTearPrefab(CurveFrame frame, ref int tearCount, bool reverseLookDirection)
{
return;
}
/// <summary>
/// Delegate, added to the Spline.OnChangedEvent. Re-evaluates the frame of the control point
/// </summary>
/// <param name="spline">Spline that changed</param>
private void OnOwnerSplineChanged( Curve spline )
{
m_Frame = spline.EvaluateFrame( m_Index );
}
