去掉obi，使用自写绳索
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using UnityEngine;
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using System.Collections.Generic;
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using Obi;
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/**
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* Sample component that makes a collider "grab" any particle it touches (regardless of which Actor it belongs to).
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*/
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[RequireComponent(typeof(ObiCollider))]
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public class ObiContactGrabber : MonoBehaviour
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{
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public ObiSolver[] solvers = { };
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public bool grabbed
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{
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get { return grabbedActors.Count > 0; }
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}
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/**
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* Helper class that stores the index of a particle in the solver, its position in the grabber's local space, and its inverse mass previous to being grabbed.
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* This makes it easy to tell if a particle has been grabbed, update its position while grabbing, and restore its mass after being released.
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*/
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private class GrabbedParticle : IEqualityComparer<GrabbedParticle>
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{
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public int index;
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public float invMass;
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public Vector3 localPosition;
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public ObiSolver solver;
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public GrabbedParticle(ObiSolver solver, int index, float invMass)
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{
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this.solver = solver;
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this.index = index;
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this.invMass = invMass;
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}
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public bool Equals(GrabbedParticle x, GrabbedParticle y)
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{
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return x.index == y.index;
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}
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public int GetHashCode(GrabbedParticle obj)
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{
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return index;
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}
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}
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private Dictionary<ObiSolver, ObiNativeContactList> collisionEvents = new Dictionary<ObiSolver, ObiNativeContactList>(); /**< store the current collision event*/
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private ObiCollider localCollider; /**< the collider on this gameObject.*/
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private HashSet<GrabbedParticle> grabbedParticles = new HashSet<GrabbedParticle>(); /**< set to store all currently grabbed particles.*/
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private HashSet<ObiActor> grabbedActors = new HashSet<ObiActor>(); /**< set of softbodies grabbed during this step.*/
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private void Awake()
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{
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localCollider = GetComponent<ObiCollider>();
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}
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private void OnEnable()
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{
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if (solvers != null)
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foreach (ObiSolver solver in solvers)
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solver.OnCollision += Solver_OnCollision;
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}
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private void OnDisable()
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{
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if (solvers != null)
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foreach (ObiSolver solver in solvers)
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solver.OnCollision -= Solver_OnCollision;
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}
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private void Solver_OnCollision(object sender, ObiNativeContactList e)
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{
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collisionEvents[(ObiSolver)sender] = e;
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}
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private void UpdateParticleProperties()
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{
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// Update rest shape matching of all grabbed softbodies:
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foreach (ObiActor actor in grabbedActors)
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{
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actor.UpdateParticleProperties();
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}
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}
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/**
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* Creates and stores a GrabbedParticle from the particle at the given index.
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* Returns true if we sucessfully grabbed a particle, false if the particle was already grabbed.
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*/
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private bool GrabParticle(ObiSolver solver, int index)
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{
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GrabbedParticle p = new GrabbedParticle(solver, index, solver.invMasses[index]);
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// in case this particle has not been grabbed yet:
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if (!grabbedParticles.Contains(p))
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{
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Matrix4x4 solver2Grabber = transform.worldToLocalMatrix * solver.transform.localToWorldMatrix;
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// record the particle's position relative to the grabber, and store it.
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p.localPosition = solver2Grabber.MultiplyPoint3x4(solver.positions[index]);
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grabbedParticles.Add(p);
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// Set inv mass and velocity to zero:
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solver.invMasses[index] = 0;
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solver.velocities[index] = Vector4.zero;
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return true;
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}
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return false;
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}
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/**
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* Grabs all particles currently touching the grabber.
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*/
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public void Grab()
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{
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Release();
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var world = ObiColliderWorld.GetInstance();
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if (solvers != null && collisionEvents != null)
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{
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foreach (ObiSolver solver in solvers)
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{
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ObiNativeContactList collisionEvent;
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if (collisionEvents.TryGetValue(solver, out collisionEvent))
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{
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foreach (Oni.Contact contact in collisionEvent)
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{
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// this one is an actual collision:
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if (contact.distance < 0.01f)
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{
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var contactCollider = world.colliderHandles[contact.bodyB].owner;
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int particleIndex = solver.simplices[contact.bodyA];
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// if the current contact references our collider, proceed to grab the particle.
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if (contactCollider == localCollider)
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{
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// try to grab the particle, if not already grabbed.
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if (GrabParticle(solver, particleIndex))
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grabbedActors.Add(solver.particleToActor[particleIndex].actor);
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}
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}
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}
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}
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}
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}
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UpdateParticleProperties();
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}
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/**
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* Releases all currently grabbed particles. This boils down to simply resetting their invMass.
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*/
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public void Release()
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{
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// Restore the inverse mass of all grabbed particles, so dynamics affect them.
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foreach (GrabbedParticle p in grabbedParticles)
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p.solver.invMasses[p.index] = p.invMass;
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UpdateParticleProperties();
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grabbedActors.Clear();
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grabbedParticles.Clear();
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}
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/**
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* Updates the position of the grabbed particles.
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*/
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private void FixedUpdate()
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{
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foreach (GrabbedParticle p in grabbedParticles)
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{
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Matrix4x4 grabber2Solver = p.solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
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p.solver.positions[p.index] = grabber2Solver.MultiplyPoint3x4(p.localPosition);
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}
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}
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}
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