691 lines
28 KiB
C#
691 lines
28 KiB
C#
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using UnityEngine;
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using System;
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using System.Collections.Generic;
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namespace Obi
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{
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[AddComponentMenu("Physics/Obi/Obi Bone", 882)]
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[ExecuteInEditMode]
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[DisallowMultipleComponent]
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[DefaultExecutionOrder(100)] // make sure ObiBone's LateUpdate is updated after ObiSolver's.
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public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser, IAerodynamicConstraintsUser
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{
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[Serializable]
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public class BonePropertyCurve
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{
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[Min(0)]
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public float multiplier;
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public AnimationCurve curve;
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public BonePropertyCurve(float multiplier, float curveValue)
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{
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this.multiplier = multiplier;
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this.curve = new AnimationCurve(new Keyframe(0, curveValue), new Keyframe(1, curveValue));
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}
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public float Evaluate(float time)
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{
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return curve.Evaluate(time) * multiplier;
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}
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}
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[Serializable]
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public class IgnoredBone
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{
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public Transform bone;
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public bool ignoreChildren;
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}
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[NonSerialized] protected ObiBoneBlueprint m_BoneBlueprint;
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[SerializeField] protected bool m_SelfCollisions = false;
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[SerializeField] protected BonePropertyCurve _radius = new BonePropertyCurve(0.1f, 1);
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[SerializeField] protected BonePropertyCurve _mass = new BonePropertyCurve(0.1f, 1);
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[SerializeField] protected BonePropertyCurve _rotationalMass = new BonePropertyCurve(0.1f, 1);
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// skin constraints:
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[SerializeField] protected bool _skinConstraintsEnabled = true;
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[SerializeField] protected BonePropertyCurve _skinCompliance = new BonePropertyCurve(0.01f, 1);
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[SerializeField] protected BonePropertyCurve _skinRadius = new BonePropertyCurve(0.1f, 1);
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// distance constraints:
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[SerializeField] protected bool _stretchShearConstraintsEnabled = true;
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[SerializeField] protected BonePropertyCurve _stretchCompliance = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _shear1Compliance = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _shear2Compliance = new BonePropertyCurve(0, 1);
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// bend constraints:
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[SerializeField] protected bool _bendTwistConstraintsEnabled = true;
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[SerializeField] protected BonePropertyCurve _torsionCompliance = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _bend1Compliance = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _bend2Compliance = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _plasticYield = new BonePropertyCurve(0, 1);
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[SerializeField] protected BonePropertyCurve _plasticCreep = new BonePropertyCurve(0, 1);
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// aerodynamics
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[SerializeField] protected bool _aerodynamicsEnabled = true;
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[SerializeField] protected BonePropertyCurve _drag = new BonePropertyCurve(0.05f, 1);
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[SerializeField] protected BonePropertyCurve _lift = new BonePropertyCurve(0.02f, 1);
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[Tooltip("Filter used for collision detection.")]
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[SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
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public bool fixRoot = true;
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public bool stretchBones = true;
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public List<IgnoredBone> ignored = new List<IgnoredBone>();
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/// <summary>
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/// Collision filter value used by fluid particles.
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/// </summary>
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public int Filter
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{
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set
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{
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if (filter != value)
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{
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filter = value;
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UpdateFilter();
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}
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}
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get { return filter; }
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}
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/// <summary>
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/// Whether particles in this actor colide with particles using the same phase value.
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/// </summary>
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public bool selfCollisions
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{
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get { return m_SelfCollisions; }
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set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
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}
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/// <summary>
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/// Particle radius distribution over this bone hierarchy length.
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/// </summary>
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public BonePropertyCurve radius
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{
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get { return _radius; }
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set { _radius = value; UpdateRadius(); }
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}
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/// <summary>
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/// Mass distribution over this bone hierarchy length.
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/// </summary>
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public BonePropertyCurve mass
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{
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get { return _mass; }
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set { _mass = value; UpdateMasses(); }
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}
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/// <summary>
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/// Rotational mass distribution over this bone hierarchy length.
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/// </summary>
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public BonePropertyCurve rotationalMass
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{
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get { return _rotationalMass; }
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set { _rotationalMass = value; UpdateMasses(); }
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}
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/// <summary>
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/// Whether this actor's skin constraints are enabled.
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/// </summary>
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public bool skinConstraintsEnabled
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{
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get { return _skinConstraintsEnabled; }
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set { if (value != _skinConstraintsEnabled) { _skinConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Skin); } }
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}
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/// <summary>
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/// Compliance of this actor's skin constraints.
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/// </summary>
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public BonePropertyCurve skinCompliance
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{
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get { return _skinCompliance; }
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set { _skinCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
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}
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/// <summary>
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/// Compliance of this actor's skin radius
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/// </summary>
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public BonePropertyCurve skinRadius
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{
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get { return _skinRadius; }
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set { _skinRadius = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
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}
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/// <summary>
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/// Whether this actor's stretch/shear constraints are enabled.
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/// </summary>
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public bool stretchShearConstraintsEnabled
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{
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get { return _stretchShearConstraintsEnabled; }
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set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
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}
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/// <summary>
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/// Compliance of this actor's stretch/shear constraints, along their length.
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/// </summary>
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public BonePropertyCurve stretchCompliance
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{
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get { return _stretchCompliance; }
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set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
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}
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/// <summary>
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/// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
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/// </summary>
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public BonePropertyCurve shear1Compliance
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{
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get { return _shear1Compliance; }
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set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
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}
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/// <summary>
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/// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
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/// </summary>
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public BonePropertyCurve shear2Compliance
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{
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get { return _shear2Compliance; }
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set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
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}
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/// <summary>
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/// Whether this actor's bend/twist constraints are enabled.
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/// </summary>
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public bool bendTwistConstraintsEnabled
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{
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get { return _bendTwistConstraintsEnabled; }
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set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
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}
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/// <summary>
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/// Torsional compliance of this actor's bend/twist constraints along their length.
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/// </summary>
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public BonePropertyCurve torsionCompliance
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{
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get { return _torsionCompliance; }
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set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
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}
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/// <summary>
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/// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
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/// </summary>
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public BonePropertyCurve bend1Compliance
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{
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get { return _bend1Compliance; }
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set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
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}
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/// <summary>
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/// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
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/// </summary>
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public BonePropertyCurve bend2Compliance
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{
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get { return _bend2Compliance; }
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set { _bend2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
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}
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/// <summary>
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/// Threshold for plastic behavior.
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/// </summary>
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/// 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.
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public BonePropertyCurve plasticYield
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{
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get { return _plasticYield; }
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set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
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}
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/// <summary>
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/// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
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/// </summary>
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public BonePropertyCurve plasticCreep
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{
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get { return _plasticCreep; }
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set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
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}
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/// <summary>
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/// Whether this actor's aerodynamic constraints are enabled.
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/// </summary>
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public bool aerodynamicsEnabled
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{
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get { return _aerodynamicsEnabled; }
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set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
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}
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/// <summary>
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/// Aerodynamic drag value.
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/// </summary>
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public BonePropertyCurve drag
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{
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get { return _drag; }
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set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
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}
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/// <summary>
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/// Aerodynamic lift value.
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/// </summary>
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public BonePropertyCurve lift
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{
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get { return _lift; }
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set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
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}
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public override ObiActorBlueprint sourceBlueprint
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{
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get { return m_BoneBlueprint; }
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}
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public ObiBoneBlueprint boneBlueprint
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{
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get { return m_BoneBlueprint; }
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set
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{
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if (m_BoneBlueprint != value)
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{
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RemoveFromSolver();
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ClearState();
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m_BoneBlueprint = value;
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AddToSolver();
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}
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}
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}
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protected override void Awake()
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{
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m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
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UpdateBlueprint();
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base.Awake();
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}
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protected override void OnDestroy()
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{
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if (m_BoneBlueprint != null)
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DestroyImmediate(m_BoneBlueprint);
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base.OnDestroy();
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}
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protected override void OnValidate()
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{
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base.OnValidate();
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UpdateFilter();
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UpdateRadius();
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UpdateMasses();
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SetupRuntimeConstraints();
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}
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public void UpdateBlueprint()
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{
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if (m_BoneBlueprint != null)
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{
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m_BoneBlueprint.root = transform;
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m_BoneBlueprint.ignored = ignored;
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m_BoneBlueprint.mass = mass;
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m_BoneBlueprint.rotationalMass = rotationalMass;
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m_BoneBlueprint.radius = radius;
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m_BoneBlueprint.GenerateImmediate();
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}
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}
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public override void LoadBlueprint(ObiSolver solver)
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{
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base.LoadBlueprint(solver);
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// synchronously read required data from GPU:
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solver.renderablePositions.Readback(false);
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solver.renderableOrientations.Readback(false);
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solver.orientations.Readback(false);
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solver.angularVelocities.Readback(false);
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SetupRuntimeConstraints();
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ResetToCurrentShape();
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}
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public override void UnloadBlueprint(ObiSolver solver)
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{
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ResetParticles();
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CopyParticleDataToTransforms();
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base.UnloadBlueprint(solver);
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}
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public override void RequestReadback()
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{
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base.RequestReadback();
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solver.orientations.Readback();
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solver.angularVelocities.Readback();
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solver.renderablePositions.Readback();
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solver.renderableOrientations.Readback();
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}
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public override void SimulationEnd(float simulatedTime, float substepTime)
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{
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base.SimulationEnd(simulatedTime, substepTime);
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solver.orientations.WaitForReadback();
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solver.angularVelocities.WaitForReadback();
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solver.renderablePositions.WaitForReadback();
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solver.renderableOrientations.WaitForReadback();
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}
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private void SetupRuntimeConstraints()
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{
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SetConstraintsDirty(Oni.ConstraintType.Skin);
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SetConstraintsDirty(Oni.ConstraintType.StretchShear);
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SetConstraintsDirty(Oni.ConstraintType.BendTwist);
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SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
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SetSelfCollisions(selfCollisions);
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SetSimplicesDirty();
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UpdateFilter();
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}
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|
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 normalizedCoord = boneBlueprint.normalizedLengths[i];
|
||
|
|
var radii = Vector3.one * 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 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;
|
||
|
|
|
||
|
|
if (isLoaded)
|
||
|
|
{
|
||
|
|
solver.invMasses[solverIndices[i]] = invMass;
|
||
|
|
solver.invRotationalMasses[solverIndices[i]] = invRotMass;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
|
||
|
|
return new Vector3(skinRadius.Evaluate(normalizedCoord), 0, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
public float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
|
||
|
|
return skinCompliance.Evaluate(normalizedCoord);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
|
||
|
|
return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
|
||
|
|
bend2Compliance.Evaluate(normalizedCoord),
|
||
|
|
torsionCompliance.Evaluate(normalizedCoord));
|
||
|
|
}
|
||
|
|
|
||
|
|
public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
|
||
|
|
return new Vector2(plasticYield.Evaluate(normalizedCoord),
|
||
|
|
plasticCreep.Evaluate(normalizedCoord));
|
||
|
|
}
|
||
|
|
|
||
|
|
public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
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)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
|
||
|
|
return drag.Evaluate(normalizedCoord);
|
||
|
|
}
|
||
|
|
|
||
|
|
public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
|
||
|
|
{
|
||
|
|
float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
|
||
|
|
return 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];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|