/// <summary>
/// Creates the mesh from .vol file, and applies it to the mesh collider for the gameObject
/// <para>
/// Uses the LoadSingleton to get the vertices, surface triangles and tetrahedral elements.
/// Once loaded it applies these vertices and surface triangles to the mesh's vertices and triangles before calculating the normals.
/// Finally it adds the mesh to the mesh collider.
/// </para>
/// <see cref="https://docs.unity3d.com/ScriptReference/Mesh.html">For information on procedurally generating meshes in Unity</see>
/// </summary>
private void createInitialMesh()
{
// Initialise lists
vertices = new List <Vector3> {
};
surfaceTriangles = new List <int> {
};
elements = new List <Vector4> {
};
// Grab an instance of the volumetric loader
LoadSingleton instance = LoadSingleton.getInstance();
// Get the vertices, surface triangles indices and the tetrahedral element indices
instance.loadFile(meshFile, ref vertices, ref surfaceTriangles, ref elements);
Mesh mesh = GetComponent <MeshFilter>().mesh; // Grab the mesh of the current game component.
mesh.Clear(); // Clear the mesh to start fresh just in case.
mesh.vertices = vertices.ToArray(); // Convert to an array and add to our mesh
mesh.triangles = surfaceTriangles.ToArray(); // Convert to an array and add to our mesh
mesh.RecalculateNormals(); // So that materials, and light displayed properly we need normals, use recalculate normals to get this
// Pass the mesh to the mesh collider! and tell it that convex is true so that the mesh collider can be used with rigid bodies, otherwise rigidbodies has to be set to kinematic
GetComponent <MeshCollider>().sharedMesh = mesh;
GetComponent <MeshCollider>().convex = true;
}
/// <summary>
/// Creates the mesh from .vol file, and applies it to the mesh collider for the gameObject
/// <para>
/// Uses the LoadSingleton to get the vertices, surface triangles and tetrahedral elements.
/// Once loaded it applies these vertices and surface triangles to the mesh's vertices and triangles before calculating the normals.
/// Finally it adds the mesh to the mesh collider.
/// </para>
/// <see cref="https://docs.unity3d.com/ScriptReference/Mesh.html">For information on procedurally generating meshes in Unity</see>
/// </summary>
private void createInitialMesh()
{
// Initialise lists
// FEMElements = new List<FEMElement> {};
List <Vector3> vertices = new List <Vector3> {
};
List <int> surfaceTriangles = new List <int> {
};
List <Vector4> elements = new List <Vector4> {
};
// Grab an instance of the volumetric loader
LoadSingleton instance = LoadSingleton.getInstance();
// Get the vertices, surface triangles indices and the tetrahedral element indices
instance.loadFile(meshFile, ref vertices, ref surfaceTriangles, ref elements);
Mesh mesh = GetComponent <MeshFilter>().mesh; // Grab the mesh of the current game component.
mesh.Clear(); // Clear the mesh to start fresh just in case.
mesh.vertices = vertices.ToArray(); // Convert to an array and add to our mesh
mesh.triangles = surfaceTriangles.ToArray(); // Convert to an array and add to our mesh
mesh.RecalculateNormals(); // So that materials, and light displayed properly we need normals, use recalculate normals to get this
// Pass the mesh to the mesh collider! and tell it that convex is true so that the mesh collider can be used with rigid bodies, otherwise rigidbodies has to be set to kinematic
GetComponent <MeshCollider>().sharedMesh = mesh;
GetComponent <MeshCollider>().convex = true;
//-------------------------------- Deformation --------------------------------
data = new elementData[elements.ToArray().Length];
output = new elementData[elements.ToArray().Length];
COOStiffness = new CoordinateList[elements.ToArray().Length *10];
for (int n = 0; n < data.Length; n++)
{
data[n].unDeformedPos = new Matrix4x4();
data[n].deformedPos = new Matrix4x4();
data[n].areaWeightNormals = new Matrix4x4();
data[n].elasticForceOnNode = new Matrix4x4();
data[n].elementIndices = elements[n];
for (int m = 0; m < 3; m++)
{
data[n].unDeformedPos[m, 0] = mesh.vertices[(int)elements[n].x - 1][m];
data[n].unDeformedPos[m, 1] = mesh.vertices[(int)elements[n].y - 1][m];
data[n].unDeformedPos[m, 2] = mesh.vertices[(int)elements[n].z - 1][m];
data[n].unDeformedPos[m, 3] = mesh.vertices[(int)elements[n].w - 1][m];
}
data[n].deformedPos = data[n].unDeformedPos;
}
float nodeMass = GetComponent <Rigidbody>().mass / mesh.vertices.Length;
}
/// <summary>
/// Creates the elements of the mass spring system using the volumetric information of the volumetric mesh file
/// <para>
/// Gets the mesh information using the loadSingleton, to get the vertices, surface triangles and the tetrahedral elements.
/// Then loops through the elements creating a new gameobject for each and every tetrahedral element.
/// Assigning the vertices, and surface triangles for each. As well as the sorting the colliders.
/// </para>
/// <see cref="https://docs.unity3d.com/ScriptReference/Mesh.html">For information on procedurally generating meshes in Unity</see>
/// </summary>
private void createElements()
{
List <Vector3> vertices = new List <Vector3> {
}; // The vertices of the volumetric mesh, loaded from LoadSingleton.
List <int> surfaceTriangles = new List <int> {
}; // Each group of 3 ints in the List correspond to the indices of the surface triangles.
volumeIndices = new List <Vector4> {
};
LoadSingleton instance = LoadSingleton.getInstance(); // Grab an instance of the volumetric loader
instance.loadFile(meshFile, ref vertices, ref surfaceTriangles, ref volumeIndices); // Get the vertices, surface triangles indices and the tetrahedral element indices
// Now Instantiate each element!
foreach (Vector4 elementIndices in volumeIndices)
{
GameObject element = (GameObject)Instantiate <GameObject>(ElementPrefab); // Create a new gameobject from the prefab
elements.Add(element); // Add to our list of elements
element.GetComponent <Rigidbody>().mass = GetComponent <Rigidbody>().mass / elements.ToArray().Length; // Give the element a fraction of the total mass
Mesh mesh = element.GetComponent <MeshFilter>().mesh; // Grab the mesh object of the element, so we can assign the vertices and surface triangles
mesh.Clear();
Vector3[] tetraVert = new Vector3[4]; // Each tetrahedral element will have 4 vertices, so we will chuck them in this array
for (int n = 0; n < 4; n++)
{
Vector3 verts = vertices.ToArray()[(int)elementIndices[n] - 1]; // So the indices of vertices belonging to each tetrahedral element are stored in the Vector4 element, so grab each one and subtract 1 as these indices start at 1 not 0.
tetraVert[n] = verts; // We can assign the vertex to one of the 4 in the tetrahedral element.
}
// We want to find the centre point of the tetrahedral element, so find the average point of the vertices
Vector3 tetCentre = new Vector3();
for (int n = 0; n < 4; n++)
{
tetCentre += tetraVert[n]; // Sum the values of the vertices
}
tetCentre /= 4; // Divide by the number of vertices to get the average position ie the centre!
// By subtracting the centre point from each vertexm they will now be centred around their own origin, rather than origin of the entire system
for (int n = 0; n < 4; n++)
{
tetraVert[n] -= tetCentre; // Make sure the verts are centred to this object, not the whole system
}
// The centre is now 0!
// Now move the element, to its correct position and rotation,
// This is the position of the whole system, plus the distance to the centre of the vertices for this element adjusted to take into account of any rotation
element.transform.position = transform.position + transform.rotation * (tetCentre);
element.transform.rotation = transform.rotation; // Simply assigning the rotation of the element.
if (clearDebris)
{
Destroy(element, 4);
}
int[] triangles = { 0, 1, 2, 1, 3, 2, 0, 2, 3, 0, 3, 1 }; // The indices for surface triangles for each element
// Assign the mesh variables
mesh.vertices = tetraVert;
mesh.triangles = triangles;
mesh.RecalculateNormals(); // Rather than assign the normals, let unity do it for us
// Original EDEM used spherical elements, however object tends to turn into a puddle, so going to use mesh colliders
// SphereCollider sphereCollider = element.GetComponent<SphereCollider>();
MeshCollider meshCollider = element.GetComponent <MeshCollider>();
// // if(sphereCollider.enabled){
// // // Now to find the distance to each surface using half plane tests!
// // float minDistance = Mathf.Abs(Vector3.Dot(mesh.normals[0],mesh.vertices[mesh.triangles[0]]));
// // for(int n = 1; n < 4; n++){
// // float newVal = Mathf.Abs(Vector3.Dot(mesh.normals[n],mesh.vertices[mesh.triangles[n*3]]));
// // if(newVal < minDistance){
// // minDistance = newVal;
// // }
// // }
// // sphereCollider.radius = minDistance;
// // sphereCollider.contactOffset = 0.001f;
// // meshCollider.enabled = false;
// }else{
if (!meshCollider.enabled)
{
meshCollider.enabled = true;
}
meshCollider.sharedMesh = mesh;
// }
}
if (clearDebris)
{
Destroy(gameObject, 4);
}
}