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BobSong
2026-01-01 22:00:33 +08:00
parent 040a222bd6
commit 9ceffccd39
1800 changed files with 103929 additions and 139495 deletions
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212
Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
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@@ -1,126 +1,122 @@
using UnityEngine;
using Obi;
namespace Obi.Samples
public class SnakeController : MonoBehaviour
{
public class SnakeController : MonoBehaviour
public Transform headReferenceFrame;
public float headSpeed = 20;
public float upSpeed = 40;
public float slitherSpeed = 10;
private ObiRope rope;
private ObiSolver solver;
private float[] traction;
private Vector3[] surfaceNormal;
private void Start()
{
public Transform headReferenceFrame;
public float headSpeed = 20;
public float upSpeed = 40;
public float slitherSpeed = 10;
rope = GetComponent<ObiRope>();
solver = rope.solver;
private ObiRope rope;
private ObiSolver solver;
private float[] traction;
private Vector3[] surfaceNormal;
// initialize traction array:
traction = new float[rope.activeParticleCount];
surfaceNormal = new Vector3[rope.activeParticleCount];
private void Start()
// subscribe to solver events (to update surface information)
solver.OnBeginStep += ResetSurfaceInfo;
solver.OnCollision += AnalyzeContacts;
solver.OnParticleCollision += AnalyzeContacts;
}
private void OnDestroy()
{
solver.OnBeginStep -= ResetSurfaceInfo;
solver.OnCollision -= AnalyzeContacts;
solver.OnParticleCollision -= AnalyzeContacts;
}
private void ResetSurfaceInfo(ObiSolver s, float stepTime)
{
// reset surface info:
for (int i = 0; i < traction.Length; ++i)
{
rope = GetComponent<ObiRope>();
solver = rope.solver;
// subscribe to solver events (to update surface information)
rope.OnSimulationStart += ResetSurfaceInfo;
solver.OnCollision += AnalyzeContacts;
solver.OnParticleCollision += AnalyzeContacts;
traction[i] = 0;
surfaceNormal[i] = Vector3.zero;
}
}
private void OnDestroy()
private void AnalyzeContacts(object sender, ObiSolver.ObiCollisionEventArgs e)
{
// iterate trough all contacts:
for (int i = 0; i < e.contacts.Count; ++i)
{
rope.OnSimulationStart -= ResetSurfaceInfo;
solver.OnCollision -= AnalyzeContacts;
solver.OnParticleCollision -= AnalyzeContacts;
}
private void ResetSurfaceInfo(ObiActor a, float simulatedTime, float substepTime)
{
if (traction == null)
var contact = e.contacts.Data[i];
if (contact.distance < 0.005f)
{
traction = new float[rope.activeParticleCount];
surfaceNormal = new Vector3[rope.activeParticleCount];
}
int simplexIndex = solver.simplices[contact.bodyA];
var particleInActor = solver.particleToActor[simplexIndex];
if (Input.GetKey(KeyCode.J))
{
for (int i = 1; i < rope.activeParticleCount; ++i)
if (particleInActor.actor == rope)
{
int solverIndex = rope.solverIndices[i];
int prevSolverIndex = rope.solverIndices[i - 1];
// using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
traction[particleInActor.indexInActor] = 1;
// direction from current particle to previous one, projected on the contact surface:
Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
// move in that direction:
solver.velocities[solverIndex] += dir * traction[i] / solver.invMasses[solverIndex] * slitherSpeed * simulatedTime;
}
}
int headIndex = rope.solverIndices[0];
if (headReferenceFrame != null)
{
Vector3 direction = Vector3.zero;
// Determine movement direction:
if (Input.GetKey(KeyCode.W))
{
direction += headReferenceFrame.forward * headSpeed;
}
if (Input.GetKey(KeyCode.A))
{
direction += -headReferenceFrame.right * headSpeed;
}
if (Input.GetKey(KeyCode.S))
{
direction += -headReferenceFrame.forward * headSpeed;
}
if (Input.GetKey(KeyCode.D))
{
direction += headReferenceFrame.right * headSpeed;
}
// flatten out the direction so that it's parallel to the ground:
direction.y = 0;
solver.velocities[headIndex] += (Vector4)direction * simulatedTime;
}
if (Input.GetKey(KeyCode.Space))
solver.velocities[headIndex] += (Vector4)Vector3.up * simulatedTime * upSpeed;
// reset surface info:
for (int i = 0; i < traction.Length; ++i)
{
traction[i] = 0;
surfaceNormal[i] = Vector3.zero;
}
}
private void AnalyzeContacts(object sender, ObiNativeContactList e)
{
// iterate trough all contacts:
for (int i = 0; i < e.count; ++i)
{
var contact = e[i];
if (contact.distance < 0.005f)
{
int simplexIndex = solver.simplices[contact.bodyA];
var particleInActor = solver.particleToActor[simplexIndex];
if (particleInActor != null && particleInActor.actor == rope && traction != null)
{
// using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
traction[particleInActor.indexInActor] = 1;
// accumulate surface normal:
surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
}
// accumulate surface normal:
surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
}
}
}
}
}
public void Update()
{
if (Input.GetKey(KeyCode.J))
{
for (int i = 1; i < rope.activeParticleCount; ++i)
{
int solverIndex = rope.solverIndices[i];
int prevSolverIndex = rope.solverIndices[i - 1];
// direction from current particle to previous one, projected on the contact surface:
Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
// move in that direction:
solver.velocities[solverIndex] += dir * traction[i] * slitherSpeed * Time.deltaTime;
}
}
int headIndex = rope.solverIndices[0];
if (headReferenceFrame != null)
{
Vector3 direction = Vector3.zero;
// Determine movement direction:
if (Input.GetKey(KeyCode.W))
{
direction += headReferenceFrame.forward * headSpeed;
}
if (Input.GetKey(KeyCode.A))
{
direction += -headReferenceFrame.right * headSpeed;
}
if (Input.GetKey(KeyCode.S))
{
direction += -headReferenceFrame.forward * headSpeed;
}
if (Input.GetKey(KeyCode.D))
{
direction += headReferenceFrame.right * headSpeed;
}
// flatten out the direction so that it's parallel to the ground:
direction.y = 0;
solver.velocities[headIndex] += (Vector4)direction * Time.deltaTime;
}
if (Input.GetKey(KeyCode.Space))
solver.velocities[headIndex] += (Vector4)Vector3.up * Time.deltaTime * upSpeed;
}
}