去掉obi，使用自写绳索
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace Obi
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{
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[CreateAssetMenu(fileName = "bone blueprint", menuName = "Obi/Bone Blueprint", order = 142)]
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public class ObiBoneBlueprint : ObiActorBlueprint
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{
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public Transform root;
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public const float DEFAULT_PARTICLE_MASS = 0.1f;
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public const float DEFAULT_PARTICLE_ROTATIONAL_MASS = 0.1f;
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public const float DEFAULT_PARTICLE_RADIUS = 0.05f;
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[HideInInspector] public List<Transform> transforms = new List<Transform>();
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[HideInInspector] public List<Quaternion> restTransformOrientations = new List<Quaternion>();
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[HideInInspector] public List<int> parentIndices = new List<int>();
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[HideInInspector] public List<float> normalizedLengths = new List<float>();
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[HideInInspector] public int[] deformableEdges = null; /**< Indices of deformable edges (2 per edge)*/
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[HideInInspector] [NonSerialized] public List<ObiBone.IgnoredBone> ignored;
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[HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve mass;
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[HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve rotationalMass;
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[HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve radius;
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public Quaternion root2WorldR;
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private GraphColoring colorizer;
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private ObiBone.IgnoredBone GetIgnoredBone(Transform bone)
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{
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for (int i = 0; i < ignored.Count; ++i)
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if (ignored[i].bone == bone)
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return ignored[i];
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return null;
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}
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public ObiBoneOverride GetOverride(int particleIndex, out float normalizedLength)
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{
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int overrideIndex = particleIndex;
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normalizedLength = normalizedLengths[overrideIndex];
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while (overrideIndex >= 0)
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{
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if (transforms[overrideIndex].TryGetComponent(out ObiBoneOverride over))
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{
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normalizedLength = 1 - (1 - normalizedLengths[particleIndex]) / Mathf.Max(ObiUtils.epsilon,1 - normalizedLengths[overrideIndex]);
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return over;
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}
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overrideIndex = parentIndices[overrideIndex];
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}
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return null;
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}
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protected override IEnumerator Initialize()
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{
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ClearParticleGroups();
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transforms.Clear();
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restTransformOrientations.Clear();
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parentIndices.Clear();
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normalizedLengths.Clear();
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List<Vector3> particlePositions = new List<Vector3>();
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List<Quaternion> particleOrientations = new List<Quaternion>();
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var world2Root = root.transform.worldToLocalMatrix;
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var world2RootR = world2Root.rotation;
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root2WorldR = Quaternion.Inverse(world2RootR);
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// create a queue to traverse the hierarchy in a width-first fashion.
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Queue<Transform> bones = new Queue<Transform>();
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// insert the root bone:
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bones.Enqueue(root);
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parentIndices.Add(-1);
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normalizedLengths.Add(0);
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// initialize hierarchy length:
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float maxLength = 0;
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while (bones.Count > 0)
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{
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var bone = bones.Dequeue();
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if (bone != null)
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{
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var ig = GetIgnoredBone(bone);
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if (ig == null)
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{
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transforms.Add(bone);
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restTransformOrientations.Add(bone.localRotation);
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particlePositions.Add(world2Root.MultiplyPoint3x4(bone.position));
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particleOrientations.Add(world2RootR * bone.rotation);
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}
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if (ig == null || !ig.ignoreChildren)
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{
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foreach (Transform child in bone)
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{
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ig = GetIgnoredBone(child);
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if (ig == null)
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{
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int parentIndex = transforms.Count - 1;
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parentIndices.Add(parentIndex);
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float distanceToParent = Vector3.Distance(child.position, bone.position);
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float distanceToRoot = normalizedLengths[parentIndex] + distanceToParent;
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maxLength = Mathf.Max(maxLength, distanceToRoot);
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normalizedLengths.Add(distanceToRoot);
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}
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bones.Enqueue(child);
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}
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}
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}
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}
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// normalize lengths:
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if (maxLength > 0)
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{
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for (int i = 0; i < normalizedLengths.Count; ++i)
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normalizedLengths[i] /= maxLength;
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}
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// calculate orientations that minimize the Darboux vector:
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Vector3[] avgChildrenDirection = new Vector3[parentIndices.Count];
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int[] childCount = new int[parentIndices.Count];
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for (int i = 0; i < parentIndices.Count; ++i)
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{
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int parent = parentIndices[i];
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if (parent >= 0)
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{
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var vector = particlePositions[i] - particlePositions[parent];
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avgChildrenDirection[parent] += vector;
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childCount[parent]++;
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}
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}
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for (int i = 0; i < parentIndices.Count; ++i)
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{
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if (childCount[i] > 0)
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particleOrientations[i] = Quaternion.LookRotation(avgChildrenDirection[i] / childCount[i]);
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else if (parentIndices[i] >= 0)
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particleOrientations[i] = particleOrientations[parentIndices[i]];
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}
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m_ActiveParticleCount = particlePositions.Count;
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positions = new Vector3[m_ActiveParticleCount];
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orientations = new Quaternion[m_ActiveParticleCount];
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velocities = new Vector3[m_ActiveParticleCount];
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angularVelocities = new Vector3[m_ActiveParticleCount];
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invMasses = new float[m_ActiveParticleCount];
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invRotationalMasses = new float[m_ActiveParticleCount];
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principalRadii = new Vector3[m_ActiveParticleCount];
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filters = new int[m_ActiveParticleCount];
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restPositions = new Vector4[m_ActiveParticleCount];
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restOrientations = new Quaternion[m_ActiveParticleCount];
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colors = new Color[m_ActiveParticleCount];
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for (int i = 0; i < m_ActiveParticleCount; i++)
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{
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invMasses[i] = ObiUtils.MassToInvMass(mass != null ? mass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_MASS);
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invRotationalMasses[i] = ObiUtils.MassToInvMass(rotationalMass != null ? rotationalMass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_ROTATIONAL_MASS);
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positions[i] = particlePositions[i];
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restPositions[i] = positions[i];
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restPositions[i][3] = 1; // activate rest position.
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orientations[i] = particleOrientations[i];
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restOrientations[i] = /*world2RootR */ transforms[i].rotation;
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principalRadii[i] = Vector3.one * (radius != null ? radius.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_RADIUS);
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filters[i] = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
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colors[i] = Color.white;
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var group = ScriptableObject.CreateInstance<ObiParticleGroup>();
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group.SetSourceBlueprint(this);
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group.name = transforms[i].name;
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group.particleIndices.Add(i);
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groups.Add(group);
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if (i % 100 == 0)
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yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
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}
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colorizer = new GraphColoring(m_ActiveParticleCount);
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// Deformable edges:
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CreateDeformableEdges();
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// Create edge simplices:
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CreateSimplices();
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// Create stretch constraints:
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IEnumerator dc = CreateStretchShearConstraints(particlePositions);
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while (dc.MoveNext()) yield return dc.Current;
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// Create bending constraints:
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IEnumerator bc = CreateBendTwistConstraints(particlePositions);
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while (bc.MoveNext()) yield return bc.Current;
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// Create skin constraints:
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IEnumerator sc = CreateSkinConstraints(particlePositions);
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while (sc.MoveNext()) yield return sc.Current;
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// Create aerodynamic constraints:
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IEnumerator ac = CreateAerodynamicConstraints();
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while (ac.MoveNext()) yield return ac.Current;
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yield return new CoroutineJob.ProgressInfo("ObiBone: complete", 1);
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}
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protected void CreateDeformableEdges()
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{
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deformableEdges = new int[(parentIndices.Count - 1) * 2];
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for (int i = 0; i < parentIndices.Count - 1; ++i)
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{
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deformableEdges[i * 2] = i + 1;
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deformableEdges[i * 2 + 1] = parentIndices[i + 1];
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}
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}
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protected void CreateSimplices()
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{
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edges = new int[(parentIndices.Count - 1) * 2];
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for (int i = 0; i < parentIndices.Count-1; ++i)
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{
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edges[i * 2] = i + 1;
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edges[i * 2 + 1] = parentIndices[i + 1];
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}
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}
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protected virtual IEnumerator CreateAerodynamicConstraints()
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{
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aerodynamicConstraintsData = new ObiAerodynamicConstraintsData();
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var aeroBatch = new ObiAerodynamicConstraintsBatch();
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aerodynamicConstraintsData.AddBatch(aeroBatch);
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for (int i = 0; i < m_ActiveParticleCount; i++)
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{
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aeroBatch.AddConstraint(i, 2 * principalRadii[i].x, 1, 1);
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if (i % 500 == 0)
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yield return new CoroutineJob.ProgressInfo("ObiRope generating aerodynamic constraints...", i / (float)m_ActiveParticleCount);
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}
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// Set initial amount of active constraints:
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for (int i = 0; i < aerodynamicConstraintsData.batches.Count; ++i)
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{
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aerodynamicConstraintsData.batches[i].activeConstraintCount = m_ActiveParticleCount;
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}
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}
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protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particlePositions)
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{
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colorizer.Clear();
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for (int i = 1; i < particlePositions.Count; ++i)
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{
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int parent = parentIndices[i];
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if (parent >= 0)
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{
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colorizer.AddConstraint(new[] { parent, i });
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}
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}
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stretchShearConstraintsData = new ObiStretchShearConstraintsData();
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List<int> constraintColors = new List<int>();
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var colorize = colorizer.Colorize("ObiBone: coloring stretch/shear constraints...", constraintColors);
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while (colorize.MoveNext())
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yield return colorize.Current;
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var particleIndices = colorizer.particleIndices;
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var constraintIndices = colorizer.constraintIndices;
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for (int i = 0; i < constraintColors.Count; ++i)
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{
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int color = constraintColors[i];
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int cIndex = constraintIndices[i];
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// Add a new batch if needed:
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if (color >= stretchShearConstraintsData.batchCount)
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stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
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int index1 = particleIndices[cIndex];
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int index2 = particleIndices[cIndex + 1];
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var vector = particlePositions[index2] - particlePositions[index1];
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var rest = Quaternion.LookRotation(Quaternion.Inverse(orientations[index1]) * vector);
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stretchShearConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), index1, vector.magnitude, rest);
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stretchShearConstraintsData.batches[color].activeConstraintCount++;
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if (i % 500 == 0)
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yield return new CoroutineJob.ProgressInfo("ObiBone: generating stretch constraints...", i / constraintColors.Count);
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}
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}
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protected virtual IEnumerator CreateBendTwistConstraints(List<Vector3> particlePositions)
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{
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colorizer.Clear();
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for (int i = 1; i < particlePositions.Count; ++i)
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{
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int parent = parentIndices[i];
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if (parent >= 0)
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{
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colorizer.AddConstraint(new[] { parent, i });
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}
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}
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bendTwistConstraintsData = new ObiBendTwistConstraintsData();
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List<int> constraintColors = new List<int>();
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var colorize = colorizer.Colorize("ObiBone: colorizing bend/twist constraints...", constraintColors);
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while (colorize.MoveNext())
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yield return colorize.Current;
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var particleIndices = colorizer.particleIndices;
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var constraintIndices = colorizer.constraintIndices;
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for (int i = 0; i < constraintColors.Count; ++i)
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{
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int color = constraintColors[i];
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int cIndex = constraintIndices[i];
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// Add a new batch if needed:
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if (color >= bendTwistConstraintsData.batchCount)
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bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
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int index1 = particleIndices[cIndex];
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int index2 = particleIndices[cIndex + 1];
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Quaternion darboux = ObiUtils.RestDarboux(orientations[index1], orientations[index2]);
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bendTwistConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), darboux);
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bendTwistConstraintsData.batches[color].activeConstraintCount++;
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if (i % 500 == 0)
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yield return new CoroutineJob.ProgressInfo("ObiBone: generating bend constraints...", i / constraintColors.Count);
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}
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}
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protected virtual IEnumerator CreateSkinConstraints(List<Vector3> particlePositions)
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{
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skinConstraintsData = new ObiSkinConstraintsData();
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ObiSkinConstraintsBatch skinBatch = new ObiSkinConstraintsBatch();
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skinConstraintsData.AddBatch(skinBatch);
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for (int i = 0; i < particlePositions.Count; ++i)
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{
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skinBatch.AddConstraint(i, particlePositions[i], Vector3.up, 0, 0, 0, 0);
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skinBatch.activeConstraintCount++;
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if (i % 500 == 0)
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yield return new CoroutineJob.ProgressInfo("ObiCloth: generating skin constraints...", i / (float)particlePositions.Count);
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}
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}
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}
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}
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