124 lines
4.7 KiB
C#
124 lines
4.7 KiB
C#
using UnityEngine;
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using System.Collections.Generic;
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using System;
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namespace Obi
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{
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[Serializable]
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public class ObiBendTwistConstraintsBatch : ObiConstraintsBatch
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{
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protected IBendTwistConstraintsBatchImpl m_BatchImpl;
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/// <summary>
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/// Rest darboux vector for each constraint.
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/// </summary>
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[HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
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/// <summary>
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/// 3 compliance values for each constraint, one for each local axis (x,y,z)
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/// </summary>
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[HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();
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/// <summary>
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/// two floats per constraint: plastic yield and creep.
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/// </summary>
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[HideInInspector] public ObiNativeVector2List plasticity = new ObiNativeVector2List();
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public override Oni.ConstraintType constraintType
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{
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get { return Oni.ConstraintType.BendTwist; }
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}
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public override IConstraintsBatchImpl implementation
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{
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get { return m_BatchImpl; }
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}
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public ObiBendTwistConstraintsBatch(ObiBendTwistConstraintsData constraints = null) : base()
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{
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}
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public void AddConstraint(Vector2Int indices, Quaternion restDarboux)
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{
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RegisterConstraint();
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this.particleIndices.Add(indices[0]);
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this.particleIndices.Add(indices[1]);
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this.restDarbouxVectors.Add(restDarboux);
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this.stiffnesses.Add(Vector3.zero);
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this.plasticity.Add(Vector2.zero);
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}
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public override void Clear()
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{
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base.Clear();
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particleIndices.Clear();
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restDarbouxVectors.Clear();
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stiffnesses.Clear();
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plasticity.Clear();
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}
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public override void GetParticlesInvolved(int index, List<int> particles)
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{
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particles.Add(particleIndices[index * 2]);
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particles.Add(particleIndices[index * 2 + 1]);
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}
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protected override void SwapConstraints(int sourceIndex, int destIndex)
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{
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particleIndices.Swap(sourceIndex * 2, destIndex * 2);
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particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
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restDarbouxVectors.Swap(sourceIndex, destIndex);
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stiffnesses.Swap(sourceIndex, destIndex);
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plasticity.Swap(sourceIndex, destIndex);
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}
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public override void Merge(ObiActor actor, IObiConstraintsBatch other)
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{
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var batch = other as ObiBendTwistConstraintsBatch;
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var user = actor as IBendTwistConstraintsUser;
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if (batch != null && user != null)
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{
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if (!user.bendTwistConstraintsEnabled)
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return;
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particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
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restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
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lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
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restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
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for (int i = 0; i < batch.activeConstraintCount; ++i)
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{
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stiffnesses[m_ActiveConstraintCount + i] = user.GetBendTwistCompliance(batch, i);
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plasticity[m_ActiveConstraintCount + i] = user.GetBendTwistPlasticity(batch, i);
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}
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for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
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particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
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base.Merge(actor, other);
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}
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}
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public override void AddToSolver(ObiSolver solver)
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{
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// Create distance constraints batch directly.
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m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IBendTwistConstraintsBatchImpl;
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if (m_BatchImpl != null)
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m_BatchImpl.SetBendTwistConstraints(particleIndices, restDarbouxVectors, stiffnesses, plasticity, lambdas, m_ActiveConstraintCount);
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}
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public override void RemoveFromSolver(ObiSolver solver)
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{
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//Remove batch:
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solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
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}
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}
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}
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