void Awake()
{
// Create both the rope and the solver:
rope = gameObject.AddComponent <ObiRope>();
curve = gameObject.AddComponent <ObiCatmullRomCurve>();
solver = gameObject.AddComponent <ObiSolver>();
// Provide a solver and a curve:
rope.Solver = solver;
rope.ropePath = curve;
rope.GetComponent <MeshRenderer>().material = material;
// Configure rope and solver parameters:
rope.resolution = 0.1f;
rope.BendingConstraints.stiffness = 0.2f;
rope.UVScale = new Vector2(1, 5);
rope.NormalizeV = false;
rope.UVAnchor = 1;
solver.distanceConstraintParameters.iterations = 15;
solver.pinConstraintParameters.iterations = 15;
solver.bendingConstraintParameters.iterations = 1;
// Add a cursor to change rope length:
cursor = rope.gameObject.AddComponent <ObiRopeCursor>();
cursor.rope = rope;
cursor.normalizedCoord = 0;
cursor.direction = true;
}
void Awake()
{
// Create both the rope and the solver:
rope = gameObject.AddComponent <ObiRope>();
curve = gameObject.AddComponent <ObiCatmullRomCurve>();
solver = gameObject.AddComponent <ObiSolver>();
// Provide a solver and a curve:
rope.Solver = solver;
rope.ropePath = curve;
rope.GetComponent <MeshRenderer>().material = material;
// Configure rope and solver parameters:
rope.resolution = 0.1f;
rope.BendingConstraints.stiffness = 0.2f;
rope.uvScale = new Vector2(1, 5);
rope.normalizeV = false;
rope.uvAnchor = 1;
solver.substeps = 3;
solver.distanceConstraintParameters.iterations = 5;
solver.pinConstraintParameters.iterations = 5;
solver.bendingConstraintParameters.iterations = 1;
solver.particleCollisionConstraintParameters.enabled = false;
solver.volumeConstraintParameters.enabled = false;
solver.densityConstraintParameters.enabled = false;
solver.stitchConstraintParameters.enabled = false;
solver.skinConstraintParameters.enabled = false;
solver.tetherConstraintParameters.enabled = false;
// Add a cursor to be able to change rope length:
cursor = rope.gameObject.AddComponent <ObiRopeCursor>();
cursor.normalizedCoord = 0;
cursor.direction = true;
}
/// <summary>
/// Creates a straight rope anchored to a transform at the top.
/// Transform may or may not move around and may or may not have a rigidbody.
/// When you call this the rope will appear in the scene and immediately interact with gravity and objects with ObiColliders.
/// Called from anywhere (main thread only)
/// </summary>
public IEnumerator MakeRope(Transform anchoredTo, Vector3 attachmentOffset, float ropeLength)
{
// create a new GameObject with the required components: a solver, a rope, and a curve.
// we also throw a cursor in to be able to change its length.
GameObject ropeObject = new GameObject("rope", typeof(ObiSolver),
typeof(ObiRope),
typeof(ObiCatmullRomCurve),
typeof(ObiRopeCursor));
// get references to all components:
rope = ropeObject.GetComponent <ObiRope>();
cursor = ropeObject.GetComponent <ObiRopeCursor>();
solver = ropeObject.GetComponent <ObiSolver>();
ObiCatmullRomCurve path = ropeObject.GetComponent <ObiCatmullRomCurve>();
// set up component references (see ObiRopeHelper.cs)
rope.Solver = solver;
rope.ropePath = path;
rope.section = Resources.Load <ObiRopeSection>("DefaultRopeSection");
// set path control points (duplicate end points, to set curvature as required by CatmullRom splines):
path.controlPoints.Clear();
path.controlPoints.Add(Vector3.zero);
path.controlPoints.Add(Vector3.zero);
path.controlPoints.Add(Vector3.down * ropeLength);
path.controlPoints.Add(Vector3.down * ropeLength);
rope.pooledParticles = 2000;
// parent the rope to the anchor transform:
rope.transform.SetParent(anchoredTo, false);
rope.transform.localPosition = attachmentOffset;
// generate particles/constraints and add them to the solver (see ObiRopeHelper.cs)
yield return(rope.StartCoroutine(rope.GeneratePhysicRepresentationForMesh()));
rope.AddToSolver(null);
// get the last particle in the rope at its rest state.
pinnedParticle = rope.UsedParticles - 1;
// add a tethers batch:
ObiTetherConstraintBatch tetherBatch = new ObiTetherConstraintBatch(true, false, 0, 1);
rope.TetherConstraints.AddBatch(tetherBatch);
//UpdateTethers();
// fix first particle in place (see http://obi.virtualmethodstudio.com/tutorials/scriptingparticles.html)
rope.invMasses[0] = 0;
Oni.SetParticleInverseMasses(solver.OniSolver, new float[] { 0 }, 1, rope.particleIndices[0]);
}
public IEnumerator MakeRope()
{
print("Load Extraction Rope");
ropeObject = new GameObject("rope",
typeof(ObiSolver),
typeof(ObiRope),
typeof(ObiCatmullRomCurve),
typeof(ObiRopeCursor));
// get references to all components:
ObiSolver solver = ropeObject.GetComponent <ObiSolver>();
rope = ropeObject.GetComponent <ObiRope>();
ObiCatmullRomCurve path = ropeObject.GetComponent <ObiCatmullRomCurve>();
//ObiRopeCursor cursor = ropeObject.GetComponent<ObiRopeCursor>();
// set up component references
rope.Solver = solver;
rope.ropePath = path;
rope.section = (ObiRopeSection)Resources.Load("DefaultRopeSection");
rope.GetComponent <MeshRenderer>().material = material;
//cursor.rope = rope;
// Calculate rope start/end and direction in local space: (plus offset)
Vector3 localStart = transform.InverseTransformPoint(chutes[0].transform.position + new Vector3(0, 0.2f, 0));
Vector3 localEnd = transform.InverseTransformPoint(payloads[0].transform.position + new Vector3(0, 0.5f, 0));
Vector3 direction = (localEnd - localStart).normalized;
// Generate rope path:
path.controlPoints.Clear();
path.controlPoints.Add(localStart - direction);
path.controlPoints.Add(localStart);
path.controlPoints.Add(localEnd);
path.controlPoints.Add(localEnd + direction);
//correct thickness, particle resolution, and parenting
rope.thickness = 0.025f;
rope.resolution = 0.05f;
rope.transform.parent = payloads[0].transform;
yield return(rope.StartCoroutine(rope.GeneratePhysicRepresentationForMesh()));
rope.AddToSolver(null);
//extractionCollider = new ObiCollider();
//cargoCollider = new ObiCollider();
BoxCollider extractionBox = chutes[0].AddComponent <BoxCollider>();
extractionBox.size = Vector3.zero;
BoxCollider cargoBox = payloads[0].AddComponent <BoxCollider>();
cargoBox.center = new Vector3(0.0f, 0.25f, 0.0f);
cargoBox.size = new Vector3(0.5f, 0.5f, 0.5f);
extractionCollider = chutes[0].AddComponent <ObiCollider>();
cargoCollider = payloads[0].AddComponent <ObiCollider>();
// remove the constraints from the solver, because we cannot modify the constraints list while the solver is using it.
rope.PinConstraints.RemoveFromSolver(null);
ObiPinConstraintBatch constraintsBatch = rope.PinConstraints.GetFirstBatch();
constraintsBatch.AddConstraint(0, extractionCollider, Vector3.zero, 0.0f);
constraintsBatch.AddConstraint(rope.UsedParticles - 1, cargoCollider, new Vector3(0, 0.5f, -0.25f), 0.0f);
rope.PinConstraints.AddToSolver(null);
rope.PinConstraints.PushDataToSolver();
}
IEnumerator Setup()
{
extractionObject = (GameObject)Instantiate(models[0]);
heavyCargoObject = (GameObject)Instantiate(models[1]);
extractionObject.transform.position = initialExtractionPos;
heavyCargoObject.transform.position = initialHeavyCargoPos;
start = extractionObject.transform;
end = heavyCargoObject.transform;
// Get all needed components and interconnect them:
rope = GetComponent <ObiRope>();
path = GetComponent <ObiCatmullRomCurve>();
rope.Solver = (ObiSolver)Instantiate(solver);
rope.ropePath = path;
rope.section = section;
GetComponent <MeshRenderer>().material = material;
// Calculate rope start/end and direction in local space: (plus offset)
Vector3 localStart = transform.InverseTransformPoint(start.position + new Vector3(0, 0.2f, 0));
Vector3 localEnd = transform.InverseTransformPoint(end.position + new Vector3(0, 0.5f, 0));
Vector3 direction = (localEnd - localStart).normalized;
// Generate rope path:
path.controlPoints.Clear();
path.controlPoints.Add(localStart - direction);
path.controlPoints.Add(localStart);
path.controlPoints.Add(localEnd);
path.controlPoints.Add(localEnd + direction);
//correct thickness, particle resolution, and parenting
rope.thickness = 0.025f;
rope.resolution = 0.05f;
rope.transform.parent = heavyCargoObject.transform;
// Generate particles and add them to solver:
yield return(StartCoroutine(rope.GeneratePhysicRepresentationForMesh()));
rope.AddToSolver(null);
// Fix first and last particle in place:
//rope.invMasses[0] = 0;
//rope.invMasses[rope.UsedParticles-1] = 0;
//Oni.SetParticleInverseMasses(solver.OniSolver,new float[]{0},1,rope.particleIndices[0]);
//Oni.SetParticleInverseMasses(solver.OniSolver,new float[]{0},1,rope.particleIndices[rope.UsedParticles-1]);
constraints = rope.GetComponent <ObiPinConstraints>();
constraintsBatch = rope.PinConstraints.GetFirstBatch();
extractionCollider = new ObiCollider();
cargoCollider = new ObiCollider();
BoxCollider extractionBox = extractionObject.AddComponent <BoxCollider>();
extractionBox.size = Vector3.zero;
BoxCollider cargoBox = heavyCargoObject.AddComponent <BoxCollider>();
cargoBox.center = new Vector3(0.0f, 0.5f, 0.0f);
extractionCollider = extractionObject.AddComponent(typeof(ObiCollider)) as ObiCollider;
cargoCollider = heavyCargoObject.AddComponent(typeof(ObiCollider)) as ObiCollider;
// remove the constraints from the solver, because we cannot modify the constraints list while the solver is using it.
constraints.RemoveFromSolver(null);
constraintsBatch.AddConstraint(0, extractionCollider, Vector3.zero, 0.0f);
constraintsBatch.AddConstraint(rope.UsedParticles - 1, cargoCollider, Vector3.zero, 0.0f);
constraints.AddToSolver(null);
constraints.PushDataToSolver();
}
