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BobSong
2026-02-23 20:51:03 +08:00
parent cb636f862d
commit 91e2309eeb
2011 changed files with 2593 additions and 190578 deletions
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705
Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
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using UnityEngine;
using System;
using System.Collections.Generic;
namespace Obi
{
[AddComponentMenu("Physics/Obi/Obi Bone", 882)]
[ExecuteInEditMode]
[DisallowMultipleComponent]
[DefaultExecutionOrder(100)] // make sure ObiBone's LateUpdate is updated after ObiSolver's.
public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser, IAerodynamicConstraintsUser
{
[Serializable]
public class BonePropertyCurve
{
[Min(0)]
public float multiplier;
public AnimationCurve curve;
public BonePropertyCurve(float multiplier, float curveValue)
{
this.multiplier = multiplier;
this.curve = new AnimationCurve(new Keyframe(0, curveValue), new Keyframe(1, curveValue));
}
public float Evaluate(float time)
{
return curve.Evaluate(time) * multiplier;
}
}
[Serializable]
public class IgnoredBone
{
public Transform bone;
public bool ignoreChildren;
}
[NonSerialized] protected ObiBoneBlueprint m_BoneBlueprint;
[SerializeField] protected bool m_SelfCollisions = false;
[SerializeField] protected BonePropertyCurve _radius = new BonePropertyCurve(0.1f, 1);
[SerializeField] protected BonePropertyCurve _mass = new BonePropertyCurve(0.1f, 1);
[SerializeField] protected BonePropertyCurve _rotationalMass = new BonePropertyCurve(0.1f, 1);
// skin constraints:
[SerializeField] protected bool _skinConstraintsEnabled = true;
[SerializeField] protected BonePropertyCurve _skinCompliance = new BonePropertyCurve(0.01f, 1);
[SerializeField] protected BonePropertyCurve _skinRadius = new BonePropertyCurve(0.1f, 1);
// distance constraints:
[SerializeField] protected bool _stretchShearConstraintsEnabled = true;
[SerializeField] protected BonePropertyCurve _stretchCompliance = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _shear1Compliance = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _shear2Compliance = new BonePropertyCurve(0, 1);
// bend constraints:
[SerializeField] protected bool _bendTwistConstraintsEnabled = true;
[SerializeField] protected BonePropertyCurve _torsionCompliance = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _bend1Compliance = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _bend2Compliance = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _plasticYield = new BonePropertyCurve(0, 1);
[SerializeField] protected BonePropertyCurve _plasticCreep = new BonePropertyCurve(0, 1);
// aerodynamics
[SerializeField] protected bool _aerodynamicsEnabled = true;
[SerializeField] protected BonePropertyCurve _drag = new BonePropertyCurve(0.05f, 1);
[SerializeField] protected BonePropertyCurve _lift = new BonePropertyCurve(0.02f, 1);
[Tooltip("Filter used for collision detection.")]
[SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
public bool fixRoot = true;
public bool stretchBones = true;
public List<IgnoredBone> ignored = new List<IgnoredBone>();
/// <summary>
/// Collision filter value used by fluid particles.
/// </summary>
public int Filter
{
set
{
if (filter != value)
{
filter = value;
UpdateFilter();
}
}
get { return filter; }
}
/// <summary>
/// Whether particles in this actor colide with particles using the same phase value.
/// </summary>
public bool selfCollisions
{
get { return m_SelfCollisions; }
set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
}
/// <summary>
/// Particle radius distribution over this bone hierarchy length.
/// </summary>
public BonePropertyCurve radius
{
get { return _radius; }
set { _radius = value; UpdateRadius(); }
}
/// <summary>
/// Mass distribution over this bone hierarchy length.
/// </summary>
public BonePropertyCurve mass
{
get { return _mass; }
set { _mass = value; UpdateMasses(); }
}
/// <summary>
/// Rotational mass distribution over this bone hierarchy length.
/// </summary>
public BonePropertyCurve rotationalMass
{
get { return _rotationalMass; }
set { _rotationalMass = value; UpdateMasses(); }
}
/// <summary>
/// Whether this actor's skin constraints are enabled.
/// </summary>
public bool skinConstraintsEnabled
{
get { return _skinConstraintsEnabled; }
set { if (value != _skinConstraintsEnabled) { _skinConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Skin); } }
}
/// <summary>
/// Compliance of this actor's skin constraints.
/// </summary>
public BonePropertyCurve skinCompliance
{
get { return _skinCompliance; }
set { _skinCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
}
/// <summary>
/// Compliance of this actor's skin radius
/// </summary>
public BonePropertyCurve skinRadius
{
get { return _skinRadius; }
set { _skinRadius = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
}
/// <summary>
/// Whether this actor's stretch/shear constraints are enabled.
/// </summary>
public bool stretchShearConstraintsEnabled
{
get { return _stretchShearConstraintsEnabled; }
set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
}
/// <summary>
/// Compliance of this actor's stretch/shear constraints, along their length.
/// </summary>
public BonePropertyCurve stretchCompliance
{
get { return _stretchCompliance; }
set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
/// </summary>
public BonePropertyCurve shear1Compliance
{
get { return _shear1Compliance; }
set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
/// </summary>
public BonePropertyCurve shear2Compliance
{
get { return _shear2Compliance; }
set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Whether this actor's bend/twist constraints are enabled.
/// </summary>
public bool bendTwistConstraintsEnabled
{
get { return _bendTwistConstraintsEnabled; }
set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
}
/// <summary>
/// Torsional compliance of this actor's bend/twist constraints along their length.
/// </summary>
public BonePropertyCurve torsionCompliance
{
get { return _torsionCompliance; }
set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
/// </summary>
public BonePropertyCurve bend1Compliance
{
get { return _bend1Compliance; }
set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
/// </summary>
public BonePropertyCurve bend2Compliance
{
get { return _bend2Compliance; }
set { _bend2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Threshold for plastic behavior.
/// </summary>
/// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
public BonePropertyCurve plasticYield
{
get { return _plasticYield; }
set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
/// </summary>
public BonePropertyCurve plasticCreep
{
get { return _plasticCreep; }
set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Whether this actor's aerodynamic constraints are enabled.
/// </summary>
public bool aerodynamicsEnabled
{
get { return _aerodynamicsEnabled; }
set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
}
/// <summary>
/// Aerodynamic drag value.
/// </summary>
public BonePropertyCurve drag
{
get { return _drag; }
set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
/// <summary>
/// Aerodynamic lift value.
/// </summary>
public BonePropertyCurve lift
{
get { return _lift; }
set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
public override ObiActorBlueprint sourceBlueprint
{
get { return m_BoneBlueprint; }
}
public ObiBoneBlueprint boneBlueprint
{
get { return m_BoneBlueprint; }
set
{
if (m_BoneBlueprint != value)
{
RemoveFromSolver();
ClearState();
m_BoneBlueprint = value;
AddToSolver();
}
}
}
protected override void Awake()
{
// TODO: guard against having another ObiBone above it in hierarchy.
m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
UpdateBlueprint();
base.Awake();
}
protected override void OnDestroy()
{
if (m_BoneBlueprint != null)
DestroyImmediate(m_BoneBlueprint);
base.OnDestroy();
}
protected override void OnValidate()
{
base.OnValidate();
UpdateFilter();
UpdateRadius();
UpdateMasses();
SetupRuntimeConstraints();
}
public void UpdateBlueprint()
{
if (m_BoneBlueprint != null)
{
m_BoneBlueprint.root = transform;
m_BoneBlueprint.ignored = ignored;
m_BoneBlueprint.mass = mass;
m_BoneBlueprint.rotationalMass = rotationalMass;
m_BoneBlueprint.radius = radius;
m_BoneBlueprint.GenerateImmediate();
}
}
internal override void LoadBlueprint()
{
base.LoadBlueprint();
// synchronously read required data from GPU:
solver.renderablePositions.Readback(false);
solver.renderableOrientations.Readback(false);
solver.orientations.Readback(false);
solver.angularVelocities.Readback(false);
SetupRuntimeConstraints();
ResetToCurrentShape();
}
internal override void UnloadBlueprint()
{
ResetParticles();
CopyParticleDataToTransforms();
base.UnloadBlueprint();
}
public override void RequestReadback()
{
base.RequestReadback();
solver.orientations.Readback();
solver.angularVelocities.Readback();
solver.renderablePositions.Readback();
solver.renderableOrientations.Readback();
}
public override void SimulationEnd(float simulatedTime, float substepTime)
{
base.SimulationEnd(simulatedTime, substepTime);
solver.orientations.WaitForReadback();
solver.angularVelocities.WaitForReadback();
solver.renderablePositions.WaitForReadback();
solver.renderableOrientations.WaitForReadback();
}
private void SetupRuntimeConstraints()
{
SetConstraintsDirty(Oni.ConstraintType.Skin);
SetConstraintsDirty(Oni.ConstraintType.StretchShear);
SetConstraintsDirty(Oni.ConstraintType.BendTwist);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
SetSelfCollisions(selfCollisions);
SetSimplicesDirty();
UpdateFilter();
}
public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
{
var boneBprint = sharedBlueprint as ObiBoneBlueprint;
if (boneBprint != null && boneBprint.deformableEdges != null)
{
// Send deformable edge indices to the solver:
for (int i = 0; i < boneBprint.deformableEdges.Length; ++i)
deformableEdges.Add(solverIndices[boneBprint.deformableEdges[i]]);
}
}
private void FixRoot()
{
if (isLoaded)
{
int rootIndex = solverIndices[0];
var actor2Solver = actorLocalToSolverMatrix;
var actor2SolverR = actor2Solver.rotation;
solver.invMasses[rootIndex] = 0;
solver.invRotationalMasses[rootIndex] = 0;
solver.velocities[rootIndex] = Vector4.zero;
solver.angularVelocities[rootIndex] = Vector4.zero;
// take particle rest position in actor space (which is always zero), converts to solver space:
solver.startPositions[rootIndex] = solver.endPositions[rootIndex] = solver.positions[rootIndex] = actor2Solver.MultiplyPoint3x4(Vector3.zero);
// take particle rest orientation in actor space, and convert to solver space:
solver.startOrientations[rootIndex] = solver.endOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
}
}
private void UpdateFilter()
{
for (int i = 0; i < particleCount; i++)
{
boneBlueprint.filters[i] = filter;
if (isLoaded)
solver.filters[solverIndices[i]] = filter;
}
}
public void UpdateRadius()
{
for (int i = 0; i < particleCount; ++i)
{
var boneOverride = boneBlueprint.GetOverride(i, out float normalizedCoord);
var radii = Vector3.one * (boneOverride != null ? boneOverride.radius.Evaluate(normalizedCoord) : radius.Evaluate(normalizedCoord));
boneBlueprint.principalRadii[i] = radii;
if (isLoaded)
solver.principalRadii[solverIndices[i]] = radii;
}
}
public void UpdateMasses()
{
for (int i = 0; i < particleCount; ++i)
{
var boneOverride = boneBlueprint.GetOverride(i, out float normalizedCoord);
var invMass = ObiUtils.MassToInvMass(boneOverride != null ? boneOverride .mass.Evaluate(normalizedCoord) : mass.Evaluate(normalizedCoord));
var invRotMass = ObiUtils.MassToInvMass(boneOverride != null ? boneOverride.rotationalMass.Evaluate(normalizedCoord) : rotationalMass.Evaluate(normalizedCoord));
boneBlueprint.invMasses[i] = invMass;
boneBlueprint.invRotationalMasses[i] = invRotMass;
if (isLoaded)
{
solver.invMasses[solverIndices[i]] = invMass;
solver.invRotationalMasses[solverIndices[i]] = invRotMass;
}
}
}
public Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
return new Vector3(boneOverride != null ? boneOverride.skinRadius.Evaluate(normalizedCoord) : skinRadius.Evaluate(normalizedCoord), 0, 0);
}
public float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
return boneOverride != null ? boneOverride.skinCompliance.Evaluate(normalizedCoord) : skinCompliance.Evaluate(normalizedCoord);
}
public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
if (boneOverride != null)
return new Vector3(boneOverride.bend1Compliance.Evaluate(normalizedCoord),
boneOverride.bend2Compliance.Evaluate(normalizedCoord),
boneOverride.torsionCompliance.Evaluate(normalizedCoord));
return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
bend2Compliance.Evaluate(normalizedCoord),
torsionCompliance.Evaluate(normalizedCoord));
}
public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
if (boneOverride != null)
return new Vector2(boneOverride.plasticYield.Evaluate(normalizedCoord),
boneOverride.plasticCreep.Evaluate(normalizedCoord));
return new Vector2(plasticYield.Evaluate(normalizedCoord),
plasticCreep.Evaluate(normalizedCoord));
}
public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
if (boneOverride != null)
return new Vector3(boneOverride.shear1Compliance.Evaluate(normalizedCoord),
boneOverride.shear2Compliance.Evaluate(normalizedCoord),
boneOverride.stretchCompliance.Evaluate(normalizedCoord));
return new Vector3(shear1Compliance.Evaluate(normalizedCoord),
shear2Compliance.Evaluate(normalizedCoord),
stretchCompliance.Evaluate(normalizedCoord));
}
public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
return boneOverride != null ? boneOverride.drag.Evaluate(normalizedCoord) : drag.Evaluate(normalizedCoord);
}
public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
{
var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
return boneOverride != null ? boneOverride.lift.Evaluate(normalizedCoord) : lift.Evaluate(normalizedCoord);
}
public void FixedUpdate()
{
// This resets all bones not affected by animation,
// needs to happen once per frame at the very start before Animators are updated.
ResetReferenceOrientations();
}
public override void SimulationStart(float timeToSimulate, float substepTime)
{
base.SimulationStart(timeToSimulate, substepTime);
if (fixRoot)
FixRoot();
UpdateRestShape();
}
public void LateUpdate()
{
if (Application.isPlaying && isActiveAndEnabled)
CopyParticleDataToTransforms();
}
/// <summary>
/// Resets particle orientations/positions to match the current pose of the bone hierarchy, and sets all their velocities to zero.
/// </summary>
public void ResetToCurrentShape()
{
if (!isLoaded) return;
var world2Solver = solver.transform.worldToLocalMatrix;
for (int i = 0; i < particleCount; ++i)
{
var trfm = boneBlueprint.transforms[i];
int solverIndex = solverIndices[i];
solver.velocities[solverIndex] = Vector4.zero;
solver.angularVelocities[solverIndex] = Vector4.zero;
solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = world2Solver.MultiplyPoint3x4(trfm.position);
var boneDeltaAWS = trfm.rotation * Quaternion.Inverse(boneBlueprint.restOrientations[i]);
solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = world2Solver.rotation * boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[i];
}
// Update constraint data in the blueprint, since StartSimulation won't be called until next frame.
var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
if (bc != null)
for (int j = 0; j < bc.batchCount; ++j)
{
var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
for (int i = 0; i < batch.activeConstraintCount; i++)
{
int indexA = batch.particleIndices[i * 2];
int indexB = batch.particleIndices[i * 2 + 1];
// calculate bone rotation delta in world space:
var boneDeltaAWS = boneBlueprint.transforms[indexA].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexA]);
var boneDeltaBWS = boneBlueprint.transforms[indexB].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexB]);
// apply delta to rest particle orientation:
var orientationA = boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexA];
var orientationB = boneDeltaBWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexB];
batch.restDarbouxVectors[i] = ObiUtils.RestDarboux(orientationA, orientationB);
}
}
var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
if (sc != null)
for (int j = 0; j < sc.batchCount; ++j)
{
var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
for (int i = 0; i < batch.activeConstraintCount; i++)
{
int index = batch.particleIndices[i];
batch.skinPoints[i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
}
}
}
private void ResetReferenceOrientations()
{
if (boneBlueprint != null)
for (int i = 1; i < boneBlueprint.restTransformOrientations.Count; ++i)
boneBlueprint.transforms[i].localRotation = boneBlueprint.restTransformOrientations[i];
}
private void UpdateRestShape()
{
// use current bone transforms as rest state for the simulation:
var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
var sbc = solver.GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
if (bendTwistConstraintsEnabled && bc != null && sbc != null)
{
// iterate up to the amount of entries in solverBatchOffsets, insteaf of bc.batchCount. This ensures
// the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.BendTwist].Count; ++j)
{
var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
var solverBatch = sbc.batches[j] as ObiBendTwistConstraintsBatch;
int offset = solverBatchOffsets[(int)Oni.ConstraintType.BendTwist][j];
if (solverBatch.restDarbouxVectors.isCreated)
{
if (solverBatch.restDarbouxVectors.computeBuffer == null)
solverBatch.restDarbouxVectors.SafeAsComputeBuffer<Vector4>();
for (int i = 0; i < batch.activeConstraintCount; i++)
{
int indexA = batch.particleIndices[i * 2];
int indexB = batch.particleIndices[i * 2 + 1];
// calculate bone rotation delta in world space:
var boneDeltaAWS = boneBlueprint.transforms[indexA].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexA]);
var boneDeltaBWS = boneBlueprint.transforms[indexB].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexB]);
// apply delta to rest particle orientation:
var orientationA = boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexA];
var orientationB = boneDeltaBWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexB];
solverBatch.restDarbouxVectors[offset + i] = ObiUtils.RestDarboux(orientationA, orientationB);
}
solverBatch.restDarbouxVectors.Upload();
}
}
}
var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
var ssc = solver.GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
if (skinConstraintsEnabled && sc != null && ssc != null)
{
// iterate up to the amount of entries in solverBatchOffsets, insteaf of sc.batchCount. This ensures
// the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Skin].Count; ++j)
{
var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
var solverBatch = ssc.batches[j] as ObiSkinConstraintsBatch;
int offset = solverBatchOffsets[(int)Oni.ConstraintType.Skin][j];
if (solverBatch.skinPoints.isCreated)
{
if (solverBatch.skinPoints.computeBuffer == null)
solverBatch.skinPoints.SafeAsComputeBuffer<Vector4>();
for (int i = 0; i < batch.activeConstraintCount; i++)
{
int index = batch.particleIndices[i];
solverBatch.skinPoints[offset + i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
}
solverBatch.skinPoints.Upload();
}
}
}
}
private void CopyParticleDataToTransforms()
{
if (isLoaded && boneBlueprint != null)
{
// copy current particle transforms to bones:
for (int i = 1; i < particleCount; ++i)
{
var trfm = boneBlueprint.transforms[i];
if (stretchBones)
trfm.position = GetParticlePosition(solverIndices[i]);
var delta = GetParticleOrientation(solverIndices[i]) * Quaternion.Inverse(boneBlueprint.root2WorldR * boneBlueprint.orientations[i]);
trfm.rotation = delta * boneBlueprint.restOrientations[i];
}
}
}
}
}

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Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta
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192
Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs
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using UnityEngine;
using System;
using System.Collections.Generic;
namespace Obi
{
[AddComponentMenu("Physics/Obi/Obi Bone Override", 882)]
[ExecuteInEditMode]
[DisallowMultipleComponent]
public class ObiBoneOverride : MonoBehaviour
{
[SerializeField] protected ObiBone.BonePropertyCurve _radius = new ObiBone.BonePropertyCurve(0.1f, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _mass = new ObiBone.BonePropertyCurve(0.1f, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _rotationalMass = new ObiBone.BonePropertyCurve(0.1f, 1);
// skin constraints:
[SerializeField] protected ObiBone.BonePropertyCurve _skinCompliance = new ObiBone.BonePropertyCurve(0.01f, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _skinRadius = new ObiBone.BonePropertyCurve(0.1f, 1);
// distance constraints:
[SerializeField] protected ObiBone.BonePropertyCurve _stretchCompliance = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _shear1Compliance = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _shear2Compliance = new ObiBone.BonePropertyCurve(0, 1);
// bend constraints:
[SerializeField] protected ObiBone.BonePropertyCurve _torsionCompliance = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _bend1Compliance = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _bend2Compliance = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _plasticYield = new ObiBone.BonePropertyCurve(0, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _plasticCreep = new ObiBone.BonePropertyCurve(0, 1);
// aerodynamics
[SerializeField] protected ObiBone.BonePropertyCurve _drag = new ObiBone.BonePropertyCurve(0.05f, 1);
[SerializeField] protected ObiBone.BonePropertyCurve _lift = new ObiBone.BonePropertyCurve(0.02f, 1);
/// <summary>
/// Particle radius distribution over this bone hierarchy length.
/// </summary>
public ObiBone.BonePropertyCurve radius
{
get { return _radius; }
set { _radius = value; bone.UpdateRadius(); }
}
/// <summary>
/// Mass distribution over this bone hierarchy length.
/// </summary>
public ObiBone.BonePropertyCurve mass
{
get { return _mass; }
set { _mass = value; bone.UpdateMasses(); }
}
/// <summary>
/// Rotational mass distribution over this bone hierarchy length.
/// </summary>
public ObiBone.BonePropertyCurve rotationalMass
{
get { return _rotationalMass; }
set { _rotationalMass = value; bone.UpdateMasses(); }
}
/// <summary>
/// Compliance of this actor's skin constraints.
/// </summary>
public ObiBone.BonePropertyCurve skinCompliance
{
get { return _skinCompliance; }
set { _skinCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.Skin); }
}
/// <summary>
/// Compliance of this actor's skin radius
/// </summary>
public ObiBone.BonePropertyCurve skinRadius
{
get { return _skinRadius; }
set { _skinRadius = value; bone.SetConstraintsDirty(Oni.ConstraintType.Skin); }
}
/// <summary>
/// Compliance of this actor's stretch/shear constraints, along their length.
/// </summary>
public ObiBone.BonePropertyCurve stretchCompliance
{
get { return _stretchCompliance; }
set { _stretchCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
/// </summary>
public ObiBone.BonePropertyCurve shear1Compliance
{
get { return _shear1Compliance; }
set { _shear1Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
/// </summary>
public ObiBone.BonePropertyCurve shear2Compliance
{
get { return _shear2Compliance; }
set { _shear2Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Torsional compliance of this actor's bend/twist constraints along their length.
/// </summary>
public ObiBone.BonePropertyCurve torsionCompliance
{
get { return _torsionCompliance; }
set { _torsionCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
/// </summary>
public ObiBone.BonePropertyCurve bend1Compliance
{
get { return _bend1Compliance; }
set { _bend1Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
/// </summary>
public ObiBone.BonePropertyCurve bend2Compliance
{
get { return _bend2Compliance; }
set { _bend2Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Threshold for plastic behavior.
/// </summary>
/// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
public ObiBone.BonePropertyCurve plasticYield
{
get { return _plasticYield; }
set { _plasticYield = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
/// </summary>
public ObiBone.BonePropertyCurve plasticCreep
{
get { return _plasticCreep; }
set { _plasticCreep = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Aerodynamic drag value.
/// </summary>
public ObiBone.BonePropertyCurve drag
{
get { return _drag; }
set { _drag = value; bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
/// <summary>
/// Aerodynamic lift value.
/// </summary>
public ObiBone.BonePropertyCurve lift
{
get { return _lift; }
set { _lift = value; bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
private ObiBone bone;
public void Awake()
{
bone = GetComponentInParent<ObiBone>();
}
protected void OnValidate()
{
if (bone != null)
{
bone.UpdateRadius();
bone.UpdateMasses();
bone.SetConstraintsDirty(Oni.ConstraintType.Skin);
bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear);
bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist);
bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
}
}
}
}

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Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs.meta
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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
namespace Obi
{
[AddComponentMenu("Physics/Obi/Obi Rod", 881)]
[ExecuteInEditMode]
[DisallowMultipleComponent]
public class ObiRod : ObiRopeBase, IStretchShearConstraintsUser, IBendTwistConstraintsUser, IChainConstraintsUser
{
[SerializeField] protected ObiRodBlueprint m_RodBlueprint;
// distance constraints:
[SerializeField] protected bool _stretchShearConstraintsEnabled = true;
[SerializeField] protected float _stretchCompliance = 0;
[SerializeField] protected float _shear1Compliance = 0;
[SerializeField] protected float _shear2Compliance = 0;
// bend constraints:
[SerializeField] protected bool _bendTwistConstraintsEnabled = true;
[SerializeField] protected float _torsionCompliance = 0;
[SerializeField] protected float _bend1Compliance = 0;
[SerializeField] protected float _bend2Compliance = 0;
[SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
[SerializeField] protected float _plasticCreep = 0;
// chain constraints:
[SerializeField] protected bool _chainConstraintsEnabled = true;
[SerializeField] [Range(0, 1)] protected float _tightness = 1;
/// <summary>
/// Whether particles in this actor colide with particles using the same phase value.
/// </summary>
public bool selfCollisions
{
get { return m_SelfCollisions; }
set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
}
/// <summary>
/// Whether this actor's stretch/shear constraints are enabled.
/// </summary>
public bool stretchShearConstraintsEnabled
{
get { return _stretchShearConstraintsEnabled; }
set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
}
/// <summary>
/// Compliance of this actor's stretch/shear constraints, along their length.
/// </summary>
public float stretchCompliance
{
get { return _stretchCompliance; }
set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
/// </summary>
public float shear1Compliance
{
get { return _shear1Compliance; }
set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
/// </summary>
public float shear2Compliance
{
get { return _shear2Compliance; }
set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
}
/// <summary>
/// Whether this actor's bend/twist constraints are enabled.
/// </summary>
public bool bendTwistConstraintsEnabled
{
get { return _bendTwistConstraintsEnabled; }
set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
}
/// <summary>
/// Torsional compliance of this actor's bend/twist constraints along their length.
/// </summary>
public float torsionCompliance
{
get { return _torsionCompliance; }
set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
/// </summary>
public float bend1Compliance
{
get { return _bend1Compliance; }
set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
/// </summary>
public float bend2Compliance
{
get { return _bend2Compliance; }
set { _bend2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Threshold for plastic behavior.
/// </summary>
/// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
public float plasticYield
{
get { return _plasticYield; }
set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
/// </summary>
public float plasticCreep
{
get { return _plasticCreep; }
set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
/// <summary>
/// Whether this actor's chain constraints are enabled.
/// </summary>
public bool chainConstraintsEnabled
{
get { return _chainConstraintsEnabled; }
set { if (value != _chainConstraintsEnabled) { _chainConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
}
/// <summary>
/// Tightness of this actor's chain constraints.
/// </summary>
/// Controls how much chain constraints are allowed to compress.
public float tightness
{
get { return _tightness; }
set { _tightness = value; SetConstraintsDirty(Oni.ConstraintType.Chain); }
}
/// <summary>
/// Average distance between consecutive particle centers in this rod.
/// </summary>
public float interParticleDistance
{
get { return m_RodBlueprint.interParticleDistance; }
}
public override ObiActorBlueprint sourceBlueprint
{
get { return m_RodBlueprint; }
}
public ObiRodBlueprint rodBlueprint
{
get { return m_RodBlueprint; }
set
{
if (m_RodBlueprint != value)
{
RemoveFromSolver();
ClearState();
m_RodBlueprint = value;
AddToSolver();
}
}
}
protected override void OnValidate()
{
base.OnValidate();
SetConstraintsDirty(Oni.ConstraintType.BendTwist);
SetupRuntimeConstraints();
}
internal override void LoadBlueprint()
{
base.LoadBlueprint();
RebuildElementsFromConstraints();
SetupRuntimeConstraints();
}
public override void RequestReadback()
{
base.RequestReadback();
solver.orientations.Readback();
}
public override void SimulationEnd(float simulatedTime, float substepTime)
{
base.SimulationEnd(simulatedTime, substepTime);
solver.orientations.WaitForReadback();
}
private void SetupRuntimeConstraints()
{
SetConstraintsDirty(Oni.ConstraintType.StretchShear);
SetConstraintsDirty(Oni.ConstraintType.BendTwist);
SetConstraintsDirty(Oni.ConstraintType.Chain);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
SetSelfCollisions(selfCollisions);
SetMassScale(m_MassScale);
RecalculateRestLength();
SetSimplicesDirty();
}
public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
{
return new Vector3(bend1Compliance, bend2Compliance, torsionCompliance);
}
public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
{
return new Vector2(plasticYield, plasticCreep);
}
public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
{
return new Vector3(shear1Compliance, shear2Compliance, stretchCompliance);
}
protected override void RebuildElementsFromConstraintsInternal()
{
var dc = GetConstraintsByType(Oni.ConstraintType.StretchShear) as ObiConstraints<ObiStretchShearConstraintsBatch>;
if (dc == null || dc.batchCount < 2)
return;
int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
elements = new List<ObiStructuralElement>(constraintCount);
for (int i = 0; i < constraintCount; ++i)
{
var batch = dc.batches[i % 2] as ObiStretchShearConstraintsBatch;
int constraintIndex = i / 2;
var e = new ObiStructuralElement();
e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
e.restLength = batch.restLengths[constraintIndex];
elements.Add(e);
}
if (dc.batches.Count > 2)
{
var batch = dc.batches[2];
var e = new ObiStructuralElement();
e.particle1 = solverIndices[batch.particleIndices[0]];
e.particle2 = solverIndices[batch.particleIndices[1]];
e.restLength = batch.restLengths[0];
elements.Add(e);
}
}
}
}

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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta
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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
namespace Obi
{
[AddComponentMenu("Physics/Obi/Obi Rope", 880)]
[ExecuteInEditMode]
[DisallowMultipleComponent]
public class ObiRope : ObiRopeBase, IDistanceConstraintsUser, IBendConstraintsUser
{
[SerializeField] protected ObiRopeBlueprint m_RopeBlueprint;
private ObiRopeBlueprint m_RopeBlueprintInstance;
// rope has a list of structural elements.
// each structural element is equivalent to 1 distance constraint and 2 bend constraints (with previous, and following element).
// a structural element has force and rest length.
// a function re-generates constraints from structural elements when needed, placing them in the appropiate batches.
public bool tearingEnabled = false;
public float tearResistanceMultiplier = 1000; /**< Factor that controls how much a structural cloth spring can stretch before breaking.*/
public int tearRate = 1;
// distance constraints:
[SerializeField] protected bool _distanceConstraintsEnabled = true;
[SerializeField] protected float _stretchingScale = 1;
[SerializeField] protected float _stretchCompliance = 0;
[SerializeField] [Range(0, 1)] protected float _maxCompression = 0;
// bend constraints:
[SerializeField] protected bool _bendConstraintsEnabled = true;
[SerializeField] protected float _bendCompliance = 0;
[SerializeField] [Range(0, 0.5f)] protected float _maxBending = 0.025f;
[SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
[SerializeField] protected float _plasticCreep = 0;
List<ObiStructuralElement> tornElements = new List<ObiStructuralElement>();
/// <summary>
/// Whether particles in this actor colide with particles using the same phase value.
/// </summary>
public bool selfCollisions
{
get { return m_SelfCollisions; }
set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(selfCollisions); } }
}
/// <summary>
/// Whether this actor's distance constraints are enabled.
/// </summary>
public bool distanceConstraintsEnabled
{
get { return _distanceConstraintsEnabled; }
set { if (value != _distanceConstraintsEnabled) { _distanceConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Distance); } }
}
/// <summary>
/// Scale value for this actor's distance constraints rest length.
/// </summary>
/// The default is 1. For instamce, a value of 2 will make the distance constraints twice as long, 0.5 will reduce their length in half.
public float stretchingScale
{
get { return _stretchingScale; }
set { _stretchingScale = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
}
/// <summary>
/// Compliance of this actor's stretch constraints.
/// </summary>
public float stretchCompliance
{
get { return _stretchCompliance; }
set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
}
/// <summary>
/// Maximum compression this actor's distance constraints can undergo.
/// </summary>
/// This is expressed as a percentage of the scaled rest length.
public float maxCompression
{
get { return _maxCompression; }
set { _maxCompression = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
}
/// <summary>
/// Whether this actor's bend constraints are enabled.
/// </summary>
public bool bendConstraintsEnabled
{
get { return _bendConstraintsEnabled; }
set { if (value != _bendConstraintsEnabled) { _bendConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Bending); } }
}
/// <summary>
/// Compliance of this actor's bend constraints.
/// </summary>
public float bendCompliance
{
get { return _bendCompliance; }
set { _bendCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
}
/// <summary>
/// Max bending value that constraints can undergo before resisting bending.
/// </summary>
public float maxBending
{
get { return _maxBending; }
set { _maxBending = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
}
/// <summary>
/// Threshold for plastic behavior.
/// </summary>
/// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rope's rest shape.
public float plasticYield
{
get { return _plasticYield; }
set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
}
/// <summary>
/// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
/// </summary>
public float plasticCreep
{
get { return _plasticCreep; }
set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
}
/// <summary>
/// Average distance between consecutive particle centers in this rope.
/// </summary>
public float interParticleDistance
{
get { return m_RopeBlueprint.interParticleDistance; }
}
public override ObiActorBlueprint sourceBlueprint
{
get { return m_RopeBlueprint; }
}
public ObiRopeBlueprint ropeBlueprint
{
get { return m_RopeBlueprint; }
set
{
if (m_RopeBlueprint != value)
{
RemoveFromSolver();
ClearState();
m_RopeBlueprint = value;
AddToSolver();
}
}
}
public delegate void RopeTornCallback(ObiRope rope, ObiRopeTornEventArgs tearInfo);
public event RopeTornCallback OnRopeTorn; /**< Called when a constraint is torn.*/
public class ObiRopeTornEventArgs
{
public ObiStructuralElement element; /**< info about the element being torn.*/
public int particleIndex; /**< index of the particle being torn*/
public ObiRopeTornEventArgs(ObiStructuralElement element, int particle)
{
this.element = element;
this.particleIndex = particle;
}
}
protected override void OnValidate()
{
base.OnValidate();
SetupRuntimeConstraints();
}
internal override void LoadBlueprint()
{
// create a copy of the blueprint for this cloth:
if (Application.isPlaying)
m_RopeBlueprintInstance = this.blueprint as ObiRopeBlueprint;
base.LoadBlueprint();
RebuildElementsFromConstraints();
SetupRuntimeConstraints();
}
internal override void UnloadBlueprint()
{
base.UnloadBlueprint();
// delete the blueprint instance:
if (m_RopeBlueprintInstance != null)
DestroyImmediate(m_RopeBlueprintInstance);
}
private void SetupRuntimeConstraints()
{
SetConstraintsDirty(Oni.ConstraintType.Distance);
SetConstraintsDirty(Oni.ConstraintType.Bending);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
SetSelfCollisions(selfCollisions);
SetMassScale(m_MassScale);
RecalculateRestLength();
SetSimplicesDirty();
}
// Tearing must be done at the end of each step instead of substep, to give a chance to solver constraints to be rebuilt.
public override void SimulationStart(float timeToSimulate, float substepTime)
{
base.SimulationStart(timeToSimulate, substepTime);
if (isActiveAndEnabled && tearingEnabled)
ApplyTearing(substepTime);
}
protected void ApplyTearing(float substepTime)
{
float sqrTime = substepTime * substepTime;
tornElements.Clear();
var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
var sc = this.solver.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
if (dc != null && sc != null)
{
// iterate up to the amount of entries in solverBatchOffsets, insteaf of dc.batchCount. This ensures
// the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Distance].Count; ++j)
{
var batch = dc.GetBatch(j) as ObiDistanceConstraintsBatch;
var solverBatch = sc.batches[j] as ObiDistanceConstraintsBatch;
for (int i = 0; i < batch.activeConstraintCount; i++)
{
int elementIndex = j + 2 * i;
// divide lambda by squared delta time to get force in newtons:
int offset = solverBatchOffsets[(int)Oni.ConstraintType.Distance][j];
float force = solverBatch.lambdas[offset + i] / sqrTime;
elements[elementIndex].constraintForce = force;
if (-force > tearResistanceMultiplier)
{
tornElements.Add(elements[elementIndex]);
}
}
}
}
if (tornElements.Count > 0)
{
// sort edges by force:
tornElements.Sort(delegate (ObiStructuralElement x, ObiStructuralElement y)
{
return x.constraintForce.CompareTo(y.constraintForce);
});
int tornCount = 0;
for (int i = 0; i < tornElements.Count; i++)
{
if (Tear(tornElements[i]))
tornCount++;
if (tornCount >= tearRate)
break;
}
if (tornCount > 0)
RebuildConstraintsFromElements();
}
}
private int SplitParticle(int splitIndex)
{
// halve the original particle's mass:
m_Solver.invMasses[splitIndex] *= 2;
CopyParticle(solver.particleToActor[splitIndex].indexInActor, activeParticleCount);
ActivateParticle();
SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
return solverIndices[activeParticleCount - 1];
}
/// <summary>
/// Tears any given rope element. After calling Tear() one or multiple times, a call to RebuildConstraintsFromElements is needed to
/// update the rope particle/constraint representation.
/// </summary>
public bool Tear(ObiStructuralElement element)
{
// don't allow splitting if there are no free particles left in the pool.
if (activeParticleCount >= m_RopeBlueprint.particleCount)
return false;
// Cannot split fixed particles:
if (m_Solver.invMasses[element.particle1] == 0)
return false;
// Or particles that have been already split.
int index = elements.IndexOf(element);
if (index > 0 && elements[index - 1].particle2 != element.particle1)
return false;
element.particle1 = SplitParticle(element.particle1);
OnRopeTorn?.Invoke(this, new ObiRopeTornEventArgs(element, element.particle1));
return true;
}
protected override void RebuildElementsFromConstraintsInternal()
{
var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
if (dc == null || dc.batchCount < 2)
return;
int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
elements = new List<ObiStructuralElement>(constraintCount);
for (int i = 0; i < constraintCount; ++i)
{
var batch = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
int constraintIndex = i / 2;
var e = new ObiStructuralElement();
e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
e.restLength = batch.restLengths[constraintIndex];
e.tearResistance = 1;
elements.Add(e);
}
// loop-closing element:
if (dc.batches.Count > 2)
{
var batch = dc.batches[2];
var e = new ObiStructuralElement();
e.particle1 = solverIndices[batch.particleIndices[0]];
e.particle2 = solverIndices[batch.particleIndices[1]];
e.restLength = batch.restLengths[0];
e.tearResistance = 1;
elements.Add(e);
}
}
public override void RebuildConstraintsFromElements()
{
// regenerate constraints from elements:
var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
var bc = GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
var ac = GetConstraintsByType(Oni.ConstraintType.Aerodynamics) as ObiConstraints<ObiAerodynamicConstraintsBatch>;
dc.DeactivateAllConstraints();
bc.DeactivateAllConstraints();
ac.DeactivateAllConstraints();
for (int i = 0; i < activeParticleCount; ++i)
{
// aerodynamic constraints:
var ab = ac.batches[0] as ObiAerodynamicConstraintsBatch;
int constraint = ab.activeConstraintCount;
ab.particleIndices[constraint] = i;
ab.aerodynamicCoeffs[constraint * 3] = 2 * solver.principalRadii[solverIndices[i]].x;
ab.ActivateConstraint(constraint);
}
int elementsCount = elements.Count - (ropeBlueprint.path.Closed ? 1 : 0);
for (int i = 0; i < elementsCount; ++i)
{
// distance constraints
var db = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
int constraint = db.activeConstraintCount;
db.particleIndices[constraint * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
db.particleIndices[constraint * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
db.restLengths[constraint] = elements[i].restLength;
db.stiffnesses[constraint] = new Vector2(_stretchCompliance, _maxCompression * db.restLengths[constraint]);
db.ActivateConstraint(constraint);
// bend constraints
if (i < elementsCount - 1)
{
var bb = bc.batches[i % 3] as ObiBendConstraintsBatch;
// create bend constraint only if there's continuity between elements:
if (elements[i].particle2 == elements[i + 1].particle1)
{
constraint = bb.activeConstraintCount;
int indexA = elements[i].particle1;
int indexB = elements[i + 1].particle2;
int indexC = elements[i].particle2;
float restBend = 0;//ObiUtils.RestBendingConstraint(solver.restPositions[indexA], solver.restPositions[indexB], solver.restPositions[indexC]);
bb.particleIndices[constraint * 3] = solver.particleToActor[indexA].indexInActor;
bb.particleIndices[constraint * 3 + 1] = solver.particleToActor[indexB].indexInActor;
bb.particleIndices[constraint * 3 + 2] = solver.particleToActor[indexC].indexInActor;
bb.restBends[constraint] = restBend;
bb.bendingStiffnesses[constraint] = new Vector2(_maxBending, _bendCompliance);
bb.ActivateConstraint(constraint);
}
}
}
// loop-closing constraints:
if (dc.batches.Count > 2)
{
var loopClosingBatch = dc.batches[2];
var lastElement = elements[elements.Count - 1];
loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
loopClosingBatch.particleIndices[1] = solver.particleToActor[lastElement.particle2].indexInActor;
loopClosingBatch.restLengths[0] = lastElement.restLength;
loopClosingBatch.stiffnesses[0] = new Vector2(_stretchCompliance, _maxCompression * loopClosingBatch.restLengths[0]);
loopClosingBatch.ActivateConstraint(0);
}
if (bc.batches.Count > 4 && elements.Count > 2)
{
var loopClosingBatch = bc.batches[3];
var lastElement = elements[elements.Count - 2];
// for loop constraints, 0 is our best approximation of rest bend:
loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle1].indexInActor;
loopClosingBatch.particleIndices[2] = solver.particleToActor[lastElement.particle2].indexInActor;
loopClosingBatch.restBends[0] = 0;
loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
loopClosingBatch.ActivateConstraint(0);
loopClosingBatch = bc.batches[4];
loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle2].indexInActor;
loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle2].indexInActor;
loopClosingBatch.particleIndices[2] = solver.particleToActor[elements[0].particle1].indexInActor;
loopClosingBatch.restBends[0] = 0;
loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
loopClosingBatch.ActivateConstraint(0);
}
// edge simplices and deformable edges
var rb = sharedBlueprint as ObiRopeBlueprint;
rb.edges = new int[elements.Count * 2];
rb.deformableEdges = new int[elements.Count * 2];
for (int i = 0; i < elements.Count; ++i)
{
rb.deformableEdges[i * 2] = rb.edges[i * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
rb.deformableEdges[i * 2 + 1] = rb.edges[i * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
}
SetConstraintsDirty(Oni.ConstraintType.Distance);
SetConstraintsDirty(Oni.ConstraintType.Bending);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
solver.dirtyDeformableEdges = true;
SetSimplicesDirty();
}
}
}

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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta
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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
namespace Obi
{
public abstract class ObiRopeBase : ObiActor, IAerodynamicConstraintsUser
{
[SerializeField] protected bool m_SelfCollisions = false;
[HideInInspector] [SerializeField] protected float restLength_ = 0;
[HideInInspector] public List<ObiStructuralElement> elements = new List<ObiStructuralElement>(); /**< Elements.*/
public event ActorCallback OnElementsGenerated;
// aerodynamics
[SerializeField] protected bool _aerodynamicsEnabled = true;
[SerializeField] protected float _drag = 0.05f;
[SerializeField] protected float _lift = 0.02f;
/// <summary>
/// Whether this actor's aerodynamic constraints are enabled.
/// </summary>
public bool aerodynamicsEnabled
{
get { return _aerodynamicsEnabled; }
set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
}
/// <summary>
/// Aerodynamic drag value.
/// </summary>
public float drag
{
get { return _drag; }
set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
/// <summary>
/// Aerodynamic lift value.
/// </summary>
public float lift
{
get { return _lift; }
set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
}
public float restLength
{
get { return restLength_; }
}
public ObiPath path
{
get {
var ropeBlueprint = (sourceBlueprint as ObiRopeBlueprintBase);
return ropeBlueprint != null ? ropeBlueprint.path : null;
}
}
public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
{
return drag;
}
public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
{
return lift;
}
public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
{
deformableEdgesOffset = deformableEdges.count / 2;
var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
{
// Send deformable edge indices to the solver:
for (int i = 0; i < ropeBlueprint.deformableEdges.Length; ++i)
deformableEdges.Add(solverIndices[ropeBlueprint.deformableEdges[i]]);
}
}
public override int GetDeformableEdgeCount()
{
var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
return ropeBlueprint.deformableEdges.Length / 2;
return 0;
}
/// <summary>
/// Calculates and returns current rope length, including stretching/compression.
/// </summary>
public float CalculateLength()
{
float length = 0;
if (isLoaded)
{
// Iterate trough all distance constraints in order:
int elementCount = elements.Count;
for (int i = 0; i < elementCount; ++i)
length += Vector4.Distance(solver.positions[elements[i].particle1], solver.positions[elements[i].particle2]);
}
return length;
}
/// <summary>
/// Recalculates the rope's rest length, that is, its length as specified by the blueprint.
/// </summary>
public void RecalculateRestLength()
{
restLength_ = 0;
// Iterate trough all distance elements and accumulate their rest lengths.
int elementCount = elements.Count;
for (int i = 0; i < elementCount; ++i)
restLength_ += elements[i].restLength;
}
/// <summary>
/// Recalculates all particle rest positions, used when filtering self-collisions.
/// </summary>
public void RecalculateRestPositions()
{
float pos = 0;
int elementCount = elements.Count;
for (int i = 0; i < elementCount; ++i)
{
solver.restPositions[elements[i].particle1] = new Vector4(pos, 0, 0, 1);
pos += elements[i].restLength;
solver.restPositions[elements[i].particle2] = new Vector4(pos, 0, 0, 1);
}
}
/// <summary>
/// Regenerates all rope elements using constraints. It's the opposite of RebuildConstraintsFromElements(). This is automatically called when loading a blueprint, but should also be called when manually
/// altering rope constraints (adding/removing/updating constraints and/or batches).
/// </summary>
public void RebuildElementsFromConstraints()
{
RebuildElementsFromConstraintsInternal();
if (OnElementsGenerated != null)
OnElementsGenerated(this);
}
protected abstract void RebuildElementsFromConstraintsInternal();
/// <summary>
/// Regenerates all rope constraints using rope elements. It's the opposite of RebuildElementsFromConstraints().This should be called anytime the element representation of the rope
/// is changed (adding/removing/updating elements). This is usually the case after tearing the rope or changing its length using a cursor.
/// </summary>
public virtual void RebuildConstraintsFromElements() { }
/// <summary>
/// Returns a rope element that contains a length-normalized coordinate. It will also return the length-normalized coordinate within the element.
/// </summary>
public ObiStructuralElement GetElementAt(float mu, out float elementMu)
{
float edgeMu = elements.Count * Mathf.Clamp(mu, 0, 0.99999f);
int index = (int)edgeMu;
elementMu = edgeMu - index;
if (elements != null && index < elements.Count)
return elements[index];
return null;
}
/// <summary>
/// Returns index of the edge that contains a length-normalized coordinate. It will also return the length-normalized coordinate within the edge.
/// </summary>
public int GetEdgeAt(float mu, out float elementMu)
{
elementMu = -1;
var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
{
float edgeMu = ropeBlueprint.deformableEdges.Length/2 * Mathf.Clamp(mu, 0, 0.99999f);
int index = (int)edgeMu;
elementMu = edgeMu - index;
if (index < ropeBlueprint.deformableEdges.Length/2)
return index;
}
return -1;
}
}
}

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Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
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using UnityEngine;
using System.Collections;
namespace Obi
{
[AddComponentMenu("Physics/Obi/Obi Rope Cursor", 883)]
[RequireComponent(typeof(ObiRope))]
public class ObiRopeCursor : MonoBehaviour
{
ObiRope rope;
[Range(0, 1)]
[HideInInspector] [SerializeField] private float m_CursorMu;
[Range(0, 1)]
[HideInInspector] [SerializeField] private float m_SourceMu;
public bool direction = true;
ObiStructuralElement m_CursorElement = null;
private int m_SourceIndex = -1;
private float lengthChange = 0;
public float cursorMu
{
set
{
m_CursorMu = value;
UpdateCursor();
}
get { return m_CursorMu; }
}
public float sourceMu
{
set
{
m_SourceMu = value;
UpdateSource();
}
get { return m_SourceMu; }
}
public ObiStructuralElement cursorElement
{
get
{
if (m_CursorElement == null)
UpdateCursor();
return m_CursorElement;
}
}
public int sourceParticleIndex
{
get
{
if (m_SourceIndex < 0)
UpdateSource();
return m_SourceIndex;
}
}
private void OnEnable()
{
rope = GetComponent<ObiRope>();
rope.OnElementsGenerated += Actor_OnElementsGenerated;
rope.OnSimulationStart += Rope_OnSimulate;
if (rope.elements != null && rope.elements.Count > 0)
Actor_OnElementsGenerated(rope);
}
private void OnDisable()
{
rope.OnElementsGenerated -= Actor_OnElementsGenerated;
rope.OnSimulationStart -= Rope_OnSimulate;
}
private void Actor_OnElementsGenerated(ObiActor actor)
{
UpdateCursor();
UpdateSource();
}
private void Rope_OnSimulate(ObiActor actor, float simulatedTime, float substepTime)
{
if (!rope.isLoaded || Mathf.Abs(lengthChange) < ObiUtils.epsilon)
return;
var solver = rope.solver;
// remove:
if (lengthChange < 0)
{
lengthChange = -lengthChange;
while (lengthChange > m_CursorElement.restLength)
{
lengthChange -= m_CursorElement.restLength;
// if we subtracted the length of the last element, break out of the loop.
if (rope.elements.Count == 1)
break;
int index = rope.elements.IndexOf(m_CursorElement);
if (index >= 0)
{
// positive direction:
if (direction)
{
RemoveParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
rope.elements.RemoveAt(index);
if (index < rope.elements.Count)
{
if (rope.elements[index].particle1 == m_CursorElement.particle2)
rope.elements[index].particle1 = m_CursorElement.particle1;
m_CursorElement = rope.elements[index];
}
else
m_CursorElement = rope.elements[Mathf.Max(0, index - 1)];
}
else // negative direction:
{
RemoveParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
rope.elements.RemoveAt(index);
if (index > 0)
{
if (rope.elements[index - 1].particle2 == m_CursorElement.particle1)
rope.elements[index - 1].particle2 = m_CursorElement.particle2;
m_CursorElement = rope.elements[index - 1];
}
else
m_CursorElement = rope.elements[0];
}
}
}
// the remaining length is subtracted from the current constraint:
if (lengthChange > 0)
m_CursorElement.restLength = Mathf.Max(0, m_CursorElement.restLength - lengthChange);
}
// add
else
{
float lengthDelta = Mathf.Min(lengthChange, Mathf.Max(0, rope.ropeBlueprint.interParticleDistance - m_CursorElement.restLength));
// extend the current element, if possible:
if (lengthDelta > 0)
{
m_CursorElement.restLength += lengthDelta;
lengthChange -= lengthDelta;
}
// once the current element has been extended, see if we must add new elements, if there's enough particles left:
while (rope.activeParticleCount < rope.sourceBlueprint.particleCount &&
m_CursorElement.restLength + lengthChange > rope.ropeBlueprint.interParticleDistance)
{
// calculate added length:
lengthDelta = Mathf.Min(lengthChange, rope.ropeBlueprint.interParticleDistance);
lengthChange -= lengthDelta;
if (direction)
{
// add new particle:
int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
// set position of the new particle:
solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle1] +
(solver.positions[m_CursorElement.particle2] - solver.positions[m_CursorElement.particle1]) * lengthDelta;
// insert a new element:
ObiStructuralElement newElement = new ObiStructuralElement();
newElement.restLength = lengthDelta;
newElement.particle1 = m_CursorElement.particle1;
newElement.particle2 = newParticleSolverIndex;
m_CursorElement.particle1 = newParticleSolverIndex;
int index = rope.elements.IndexOf(m_CursorElement);
rope.elements.Insert(index, newElement);
m_CursorElement = newElement;
}
else
{
// add new particle:
int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
// set position of the new particle:
solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle2] +
(solver.positions[m_CursorElement.particle1] - solver.positions[m_CursorElement.particle2]) * lengthDelta;
// insert a new element:
ObiStructuralElement newElement = new ObiStructuralElement();
newElement.restLength = lengthDelta;
newElement.particle1 = newParticleSolverIndex;
newElement.particle2 = m_CursorElement.particle2;
m_CursorElement.particle2 = newParticleSolverIndex;
int index = rope.elements.IndexOf(m_CursorElement);
rope.elements.Insert(index + 1, newElement);
m_CursorElement = newElement;
}
}
// the remaining length is added to the current constraint:
if (lengthChange > 0)
m_CursorElement.restLength += lengthChange;
}
// recalculate rest positions and length prior to constraints (bend constraints need rest positions):
rope.RecalculateRestPositions();
rope.RecalculateRestLength();
// rebuild constraints:
rope.RebuildConstraintsFromElements();
lengthChange = 0;
}
public void UpdateCursor()
{
rope = GetComponent<ObiRope>();
m_CursorElement = null;
if (rope.isLoaded)
{
float elmMu;
m_CursorElement = rope.GetElementAt(cursorMu, out elmMu);
}
}
public void UpdateSource()
{
rope = GetComponent<ObiRope>();
m_SourceIndex = -1;
if (rope.isLoaded)
{
float elmMu;
var elm = rope.GetElementAt(sourceMu, out elmMu);
if (elm != null && rope.solver != null)
{
m_SourceIndex = elmMu < 0.5f ? elm.particle1 : elm.particle2;
}
}
}
private int AddParticleAt(int index)
{
int targetIndex = rope.activeParticleCount;
// Copy data from the particle where we will insert new particles, to the particles we will insert:
rope.CopyParticle(rope.solver.particleToActor[m_SourceIndex].indexInActor, targetIndex);
// Move the new particle to the one at the place where we will insert it:
rope.TeleportParticle(targetIndex, rope.solver.positions[rope.solverIndices[index]]);
// Activate the particle:
rope.ActivateParticle();
rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
return rope.solverIndices[targetIndex];
}
private void RemoveParticleAt(int index)
{
rope.DeactivateParticle(index);
rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
}
public float ChangeLength(float lengthChange)
{
// clamp new length to sane limits:
//newLength = Mathf.Clamp(newLength, 0, (rope.sourceBlueprint.particleCount - 1) * rope.ropeBlueprint.interParticleDistance);
// accumulate length change, we'll reset it to zero after it has been applied.
this.lengthChange += lengthChange;
// return new length:
return this.lengthChange + rope.restLength;
}
}
}

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