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This commit is contained in:
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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242
Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
View File

@@ -7,8 +7,7 @@ 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
public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser
{
[Serializable]
public class BonePropertyCurve
@@ -32,7 +31,7 @@ namespace Obi
[Serializable]
public class IgnoredBone
{
public Transform bone;
public Transform bone;
public bool ignoreChildren;
}
@@ -40,9 +39,9 @@ namespace Obi
[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);
[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;
@@ -63,11 +62,6 @@ namespace Obi
[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);
@@ -242,34 +236,7 @@ namespace Obi
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); }
set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
}
@@ -295,7 +262,6 @@ namespace Obi
protected override void Awake()
{
// TODO: guard against having another ObiBone above it in hierarchy.
m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
UpdateBlueprint();
base.Awake();
@@ -331,45 +297,18 @@ namespace Obi
}
}
internal override void LoadBlueprint()
public override void LoadBlueprint(ObiSolver solver)
{
base.LoadBlueprint();
// synchronously read required data from GPU:
solver.renderablePositions.Readback(false);
solver.renderableOrientations.Readback(false);
solver.orientations.Readback(false);
solver.angularVelocities.Readback(false);
base.LoadBlueprint(solver);
SetupRuntimeConstraints();
ResetToCurrentShape();
}
internal override void UnloadBlueprint()
public override void UnloadBlueprint(ObiSolver solver)
{
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();
base.UnloadBlueprint(solver);
}
private void SetupRuntimeConstraints()
@@ -377,21 +316,10 @@ namespace Obi
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]]);
}
UpdateCollisionMaterials();
}
private void FixRoot()
@@ -409,10 +337,10 @@ namespace Obi
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);
solver.renderablePositions[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];
solver.renderableOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
}
}
@@ -430,8 +358,8 @@ namespace Obi
{
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));
var normalizedCoord = boneBlueprint.normalizedLengths[i];
var radii = Vector3.one * radius.Evaluate(normalizedCoord);
boneBlueprint.principalRadii[i] = radii;
if (isLoaded)
@@ -443,9 +371,9 @@ namespace Obi
{
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));
var normalizedCoord = boneBlueprint.normalizedLengths[i];
var invMass = ObiUtils.MassToInvMass(mass.Evaluate(normalizedCoord));
var invRotMass = ObiUtils.MassToInvMass(rotationalMass.Evaluate(normalizedCoord));
boneBlueprint.invMasses[i] = invMass;
boneBlueprint.invRotationalMasses[i] = invRotMass;
@@ -460,24 +388,20 @@ namespace Obi
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);
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
return new Vector3(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);
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
return 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));
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
bend2Compliance.Evaluate(normalizedCoord),
torsionCompliance.Evaluate(normalizedCoord));
@@ -485,51 +409,22 @@ namespace Obi
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));
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
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));
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
return new Vector3(shear1Compliance.Evaluate(normalizedCoord),
shear2Compliance.Evaluate(normalizedCoord),
stretchCompliance.Evaluate(normalizedCoord));
}
public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
public override void BeginStep(float stepTime)
{
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);
base.BeginStep(stepTime);
if (fixRoot)
FixRoot();
@@ -537,10 +432,18 @@ namespace Obi
UpdateRestShape();
}
public void LateUpdate()
public override void PrepareFrame()
{
ResetReferenceOrientations();
base.PrepareFrame();
}
public override void Interpolate()
{
if (Application.isPlaying && isActiveAndEnabled)
CopyParticleDataToTransforms();
base.Interpolate();
}
/// <summary>
@@ -560,49 +463,11 @@ namespace Obi
solver.velocities[solverIndex] = Vector4.zero;
solver.angularVelocities[solverIndex] = Vector4.zero;
solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = world2Solver.MultiplyPoint3x4(trfm.position);
solver.renderablePositions[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];
solver.renderableOrientations[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()
@@ -619,20 +484,14 @@ namespace Obi
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)
for (int j = 0; j < bc.GetBatchCount(); ++j)
{
var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
var solverBatch = sbc.batches[j] as ObiBendTwistConstraintsBatch;
int offset = solverBatchOffsets[(int)Oni.ConstraintType.BendTwist][j];
int offset = solverBatchOffsets[(int)solverBatch.constraintType][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];
@@ -648,45 +507,34 @@ namespace Obi
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)
for (int j = 0; j < sc.GetBatchCount(); ++j)
{
var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
var solverBatch = ssc.batches[j] as ObiSkinConstraintsBatch;
int offset = solverBatchOffsets[(int)Oni.ConstraintType.Skin][j];
int offset = solverBatchOffsets[(int)solverBatch.constraintType][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)
if (boneBlueprint != null)
{
// copy current particle transforms to bones:
for (int i = 1; i < particleCount; ++i)

192
Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs
View File

@@ -1,192 +0,0 @@
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);
}
}
}
}

11
Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs.meta
View File

@@ -1,11 +0,0 @@
fileFormatVersion: 2
guid: eed7ac246d14742e5a77c218f4e491ec
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {fileID: 2800000, guid: 0a18e0376cc184a9b96ebb3bf0175cc2, type: 3}
userData:
assetBundleName:
assetBundleVariant:

23
Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
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@@ -183,35 +183,22 @@ namespace Obi
SetupRuntimeConstraints();
}
internal override void LoadBlueprint()
public override void LoadBlueprint(ObiSolver solver)
{
base.LoadBlueprint();
base.LoadBlueprint(solver);
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.BendTwist);
SetConstraintsDirty(Oni.ConstraintType.Chain);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
SetSelfCollisions(selfCollisions);
SetMassScale(m_MassScale);
RecalculateRestLength();
SetSimplicesDirty();
UpdateCollisionMaterials();
}
public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
@@ -232,7 +219,7 @@ namespace Obi
protected override void RebuildElementsFromConstraintsInternal()
{
var dc = GetConstraintsByType(Oni.ConstraintType.StretchShear) as ObiConstraints<ObiStretchShearConstraintsBatch>;
if (dc == null || dc.batchCount < 2)
if (dc == null || dc.GetBatchCount() < 2)
return;
int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;

90
Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
View File

@@ -178,20 +178,20 @@ namespace Obi
SetupRuntimeConstraints();
}
internal override void LoadBlueprint()
public override void LoadBlueprint(ObiSolver solver)
{
// create a copy of the blueprint for this cloth:
if (Application.isPlaying)
m_RopeBlueprintInstance = this.blueprint as ObiRopeBlueprint;
base.LoadBlueprint();
base.LoadBlueprint(solver);
RebuildElementsFromConstraints();
SetupRuntimeConstraints();
}
internal override void UnloadBlueprint()
public override void UnloadBlueprint(ObiSolver solver)
{
base.UnloadBlueprint();
base.UnloadBlueprint(solver);
// delete the blueprint instance:
if (m_RopeBlueprintInstance != null)
@@ -202,25 +202,26 @@ namespace Obi
{
SetConstraintsDirty(Oni.ConstraintType.Distance);
SetConstraintsDirty(Oni.ConstraintType.Bending);
SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
SetSelfCollisions(selfCollisions);
SetMassScale(m_MassScale);
RecalculateRestLength();
SetSimplicesDirty();
UpdateCollisionMaterials();
}
// 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)
public override void Substep(float substepTime)
{
base.SimulationStart(timeToSimulate, substepTime);
base.Substep(substepTime);
if (isActiveAndEnabled && tearingEnabled)
if (isActiveAndEnabled)
ApplyTearing(substepTime);
}
protected void ApplyTearing(float substepTime)
{
if (!tearingEnabled)
return;
float sqrTime = substepTime * substepTime;
tornElements.Clear();
@@ -229,28 +230,24 @@ namespace Obi
var sc = this.solver.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
if (dc != null && sc != null)
for (int j = 0; j < dc.GetBatchCount(); ++j)
{
// 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++)
{
var batch = dc.GetBatch(j) as ObiDistanceConstraintsBatch;
var solverBatch = sc.batches[j] as ObiDistanceConstraintsBatch;
int elementIndex = j + 2 * i;
for (int i = 0; i < batch.activeConstraintCount; 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)
{
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]);
}
tornElements.Add(elements[elementIndex]);
}
}
}
@@ -285,8 +282,7 @@ namespace Obi
m_Solver.invMasses[splitIndex] *= 2;
CopyParticle(solver.particleToActor[splitIndex].indexInActor, activeParticleCount);
ActivateParticle();
SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
ActivateParticle(activeParticleCount);
return solverIndices[activeParticleCount - 1];
}
@@ -313,7 +309,8 @@ namespace Obi
element.particle1 = SplitParticle(element.particle1);
OnRopeTorn?.Invoke(this, new ObiRopeTornEventArgs(element, element.particle1));
if (OnRopeTorn != null)
OnRopeTorn(this, new ObiRopeTornEventArgs(element, element.particle1));
return true;
}
@@ -321,7 +318,7 @@ namespace Obi
protected override void RebuildElementsFromConstraintsInternal()
{
var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
if (dc == null || dc.batchCount < 2)
if (dc == null || dc.GetBatchCount() < 2)
return;
int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
@@ -359,26 +356,13 @@ namespace Obi
// 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;
@@ -388,7 +372,6 @@ namespace Obi
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;
@@ -401,7 +384,7 @@ namespace Obi
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]);
float restBend = 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;
@@ -447,21 +430,16 @@ namespace Obi
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];
// edge simplices:
sharedBlueprint.edges = 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;
sharedBlueprint.edges[i * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
sharedBlueprint.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();
}
}

86
Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
View File

@@ -4,7 +4,7 @@ using System.Collections.Generic;
namespace Obi
{
public abstract class ObiRopeBase : ObiActor, IAerodynamicConstraintsUser
public abstract class ObiRopeBase : ObiActor
{
[SerializeField] protected bool m_SelfCollisions = false;
@@ -12,44 +12,11 @@ namespace Obi
[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 {
@@ -58,37 +25,6 @@ namespace Obi
}
}
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>
@@ -169,25 +105,5 @@ namespace Obi
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;
}
}
}

129
Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
View File

@@ -20,7 +20,6 @@ namespace Obi
ObiStructuralElement m_CursorElement = null;
private int m_SourceIndex = -1;
private float lengthChange = 0;
public float cursorMu
{
@@ -67,7 +66,6 @@ namespace Obi
rope = GetComponent<ObiRope>();
rope.OnElementsGenerated += Actor_OnElementsGenerated;
rope.OnSimulationStart += Rope_OnSimulate;
if (rope.elements != null && rope.elements.Count > 0)
Actor_OnElementsGenerated(rope);
}
@@ -75,7 +73,6 @@ namespace Obi
private void OnDisable()
{
rope.OnElementsGenerated -= Actor_OnElementsGenerated;
rope.OnSimulationStart -= Rope_OnSimulate;
}
private void Actor_OnElementsGenerated(ObiActor actor)
@@ -84,13 +81,64 @@ namespace Obi
UpdateSource();
}
private void Rope_OnSimulate(ObiActor actor, float simulatedTime, float substepTime)
public void UpdateCursor()
{
if (!rope.isLoaded || Mathf.Abs(lengthChange) < ObiUtils.epsilon)
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)
{
// Copy data from the particle where we will insert new particles, to the particles we will insert:
int targetIndex = rope.activeParticleCount;
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(targetIndex);
return rope.solverIndices[targetIndex];
}
private void RemoveParticleAt(int index)
{
rope.DeactivateParticle(index);
}
public void ChangeLength(float newLength)
{
if (!rope.isLoaded)
return;
var solver = rope.solver;
// clamp new length to sane limits:
newLength = Mathf.Clamp(newLength, 0, (rope.sourceBlueprint.particleCount - 1) * rope.ropeBlueprint.interParticleDistance);
// calculate the change in rope length:
float lengthChange = newLength - rope.restLength;
// remove:
if (lengthChange < 0)
{
@@ -100,10 +148,6 @@ namespace Obi
{
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)
@@ -121,8 +165,8 @@ namespace Obi
m_CursorElement = rope.elements[index];
}
else
m_CursorElement = rope.elements[Mathf.Max(0, index - 1)];
else
m_CursorElement = rope.elements[Mathf.Max(0,index - 1)];
}
else // negative direction:
{
@@ -220,69 +264,6 @@ namespace Obi
// 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;
}
}
}