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headTransform; [Tooltip("The exponent of the projection of any hand distance from the approximated " + "shoulder beyond the handMergeDistance.")] - [Range(0f, 5f)] - public float projectionExponent = 3.50f; + [Range(0f, 100f)] + public float projectionExponent = 50f; [Tooltip("The distance from the approximated shoulder beyond which any additional " + "distance is exponentiated by the projectionExponent.")] [Range(0f, 1f)] - public float handMergeDistance = 0.30f; + public float handMergeDistance = 0.35f; + public CapsuleHand LeftModel,RightModel; + public override void ProcessFrame(ref Frame inputFrame) { + + // if (_inputLeapProvider == null) + // { + // _inputLeapProvider = Hands.Provider; + // } + // Calculate the position of the head and the basis to calculate shoulder position. - if (headTransform == null) { headTransform = Camera.main.transform; } + + // if (headTransform == null) + // { + // GameObject LeapProviderEsky = GameObject.Find("LeapMotion"); + // if(LeapProviderEsky != null){ + // _inputLeapProvider = LeapProviderEsky.GetComponent(); + // Debug.Log("Setting the hand models"); + // headTransform = LeapProviderEsky.transform; + // + // }else{ + // Debug.LogError("Couldn't find a 'LeapMotion' game object in scene, the Esky Leapmotion provider needs this, did you modify the transform structure???"); + // } + // + // } + Vector3 headPos = headTransform.position; var shoulderBasis = Quaternion.LookRotation( Vector3.ProjectOnPlane(headTransform.forward, Vector3.up), @@ -46,8 +74,12 @@ public override void ProcessFrame(ref Frame inputFrame) { var handShoulderDist = shoulderToHand.magnitude; var projectionDistance = Mathf.Max(0f, handShoulderDist - handMergeDistance); var projectionAmount = Mathf.Pow(1 + projectionDistance, projectionExponent); + LeftModel.stretchFactor = projectionAmount; + RightModel.stretchFactor = projectionAmount; + hand.SetTransform(shoulderPos + shoulderToHand * projectionAmount, hand.Rotation.ToQuaternion()); + // 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@@ -15,7 +15,7 @@ namespace Leap.Unity { /** A basic Leap hand model constructed dynamically vs. using pre-existing geometry*/ public class CapsuleHand : HandModelBase { - private const int TOTAL_JOINT_COUNT = 4 * 5; + public const int TOTAL_JOINT_COUNT = 4 * 5; private const float CYLINDER_MESH_RESOLUTION = 0.1f; //in centimeters, meshes within this resolution will be re-used private const int THUMB_BASE_INDEX = (int)Finger.FingerType.TYPE_THUMB * 4; private const int PINKY_BASE_INDEX = (int)Finger.FingerType.TYPE_PINKY * 4; @@ -24,14 +24,11 @@ public class CapsuleHand : HandModelBase { private static int _rightColorIndex = 0; private static Color[] _leftColorList = { new Color(0.0f, 0.0f, 1.0f), new Color(0.2f, 0.0f, 0.4f), new Color(0.0f, 0.2f, 0.2f) }; private static Color[] _rightColorList = { new Color(1.0f, 0.0f, 0.0f), new Color(1.0f, 1.0f, 0.0f), new Color(1.0f, 0.5f, 0.0f) }; - + Finger.FingerType[] arr = { Finger.FingerType.TYPE_INDEX, Finger.FingerType.TYPE_MIDDLE }; #pragma warning disable 0649 [SerializeField] private Chirality handedness; - [SerializeField] - private bool _showArm = true; - [SerializeField] private bool _castShadows = true; @@ -47,7 +44,7 @@ public class CapsuleHand : HandModelBase { [MinValue(0)] [SerializeField] - private float _jointRadius = 0.008f; + public float _jointRadius = 0.008f; [MinValue(0)] [SerializeField] @@ -60,7 +57,9 @@ public class CapsuleHand : HandModelBase { private Material _sphereMat; private Hand _hand; - private Vector3[] _spherePositions; + public Vector3[] _spherePositions; + public float stretchFactor = 1.0f; + public override ModelType HandModelType { get { @@ -102,14 +101,107 @@ public override void BeginHand() { base.BeginHand(); if (_hand.IsLeft) { - _sphereMat.color = _leftColorList[_leftColorIndex]; - _leftColorIndex = (_leftColorIndex + 1) % _leftColorList.Length; + // _sphereMat.color = _leftColorList[_leftColorIndex]; + // _leftColorIndex = (_leftColorIndex + 1) % _leftColorList.Length; } else { - _sphereMat.color = _rightColorList[_rightColorIndex]; - _rightColorIndex = (_rightColorIndex + 1) % _rightColorList.Length; + // _sphereMat.color = _rightColorList[_rightColorIndex]; + // _rightColorIndex = (_rightColorIndex + 1) % _rightColorList.Length; } } + void Update() + { + if (_hand == null || _sphereMat == null) return; + int handType; + if (isGrabHand(_hand)) + { + handType = 1; + } + else if (IsOpenFullHand(_hand)) + { + handType = 2; + } + else + { + handType = 0; + } + + if (_hand.IsLeft) { + _sphereMat.color = _leftColorList[handType]; + } else { + _sphereMat.color = _rightColorList[handType]; + } + + // if (CheckFingerOpenToHand(hand,arr)) + // { + // print("CheckFingerOpenToHand"); + // } + } + + bool CheckFingerOpenToHand(Hand hand, Finger.FingerType[] fingerTypesArr,float deltaCloseFinger = 0.05f) + { + List listOfFingers = hand.Fingers; + float count = 0; + for (int f = 0; f < listOfFingers.Count; f++) + { + Finger finger = listOfFingers[f]; + // 判读每个手指的指尖位置和掌心位置的长度是不是小于某个值，以判断手指是否贴着掌心 + if ((finger.TipPosition - hand.PalmPosition).Magnitude < deltaCloseFinger) + { + // 如果传进来的数组长度是0，有一个手指那么 count + 1，continue 跳出，不执行下面数组长度不是0 的逻辑 + if (fingerTypesArr.Length == 0) + { + count++; + continue; + } + // 传进来的数组长度不是 0， + for (int i = 0; i < fingerTypesArr.Length; i++) + { + // 假如本例子传进来的是食指和中指，逻辑走到这里，如果你的食指是紧握的，下面会判断这个手指是不是食指，返回 false + if (finger.Type == fingerTypesArr[i]) + { + return false; + } + else + { + count++; + } + } + + } + } + if (fingerTypesArr.Length == 0) + { + return count == 5; + } + // 这里除以length 是因为上面数组在每次 for 循环 count ++ 会执行 length 次 + return (count/ fingerTypesArr.Length == 5 - fingerTypesArr.Length); + } + + bool isGrabHand(Hand hand) + { + return hand.GrabStrength > 0.8f; + } + + bool IsCloseHand(Hand hand) + { + List listOfFingers = hand.Fingers; + int count = 0; + for (int f = 0; f < listOfFingers.Count; f++) + { + Finger finger = listOfFingers[f]; + if ((finger.TipPosition - hand.PalmPosition).Magnitude < 0.05f) + { + count++; + } + } + return (count == 4); + } + bool IsOpenFullHand(Hand hand) + { + return hand.GrabStrength == 0; + } + public override void UpdateHand() { if (_spherePositions == null || _spherePositions.Length != TOTAL_JOINT_COUNT) { _spherePositions = new Vector3[TOTAL_JOINT_COUNT]; @@ -119,55 +211,47 @@ public override void UpdateHand() { _sphereMat = new Material(_material); _sphereMat.hideFlags = HideFlags.DontSaveInEditor; } + + + Vector3 previousPosition = new Vector3(0.0f, 0.0f, 0.0f); //Update all joint spheres in the fingers foreach (var finger in _hand.Fingers) { for (int j = 0; j < 4; j++) { int key = getFingerJointIndex((int)finger.Type, j); - Vector3 position = finger.Bone((Bone.BoneType)j).NextJoint.ToVector3(); + if (j > 0) { + Vector3 direction = position - finger.Bone((Bone.BoneType)(j-1)).NextJoint.ToVector3(); + position = previousPosition + direction * stretchFactor ; + } + else + { + Vector3 direction = position - _hand.PalmPosition.ToVector3(); + position = _hand.PalmPosition.ToVector3() + direction * stretchFactor ; + } + previousPosition = position; _spherePositions[key] = position; - - drawSphere(position); } } + + Vector3 scaleFactor = new Vector3(0.0f, 0.0f, stretchFactor); + for (int i = 0; i < _spherePositions.Length; i++) + { + drawSphere(_spherePositions[i]); + + } //Now we just have a few more spheres for the hands //PalmPos, WristPos, and mockThumbJointPos, which is derived and not taken from the frame obj Vector3 palmPosition = _hand.PalmPosition.ToVector3(); - drawSphere(palmPosition, _palmRadius); + drawSphere(palmPosition, _palmRadius * stretchFactor); Vector3 thumbBaseToPalm = _spherePositions[THUMB_BASE_INDEX] - _hand.PalmPosition.ToVector3(); Vector3 mockThumbJointPos = _hand.PalmPosition.ToVector3() + Vector3.Reflect(thumbBaseToPalm, _hand.Basis.xBasis.ToVector3()); drawSphere(mockThumbJointPos); - //If we want to show the arm, do the calculations and display the meshes - if (_showArm) { - var arm = _hand.Arm; - - Vector3 right = arm.Basis.xBasis.ToVector3() * arm.Width * 0.7f * 0.5f; - Vector3 wrist = arm.WristPosition.ToVector3(); - Vector3 elbow = arm.ElbowPosition.ToVector3(); - - float armLength = Vector3.Distance(wrist, elbow); - wrist -= arm.Direction.ToVector3() * armLength * 0.05f; - Vector3 armFrontRight = wrist + right; - Vector3 armFrontLeft = wrist - right; - Vector3 armBackRight = elbow + right; - Vector3 armBackLeft = elbow - right; - - drawSphere(armFrontRight); - drawSphere(armFrontLeft); - drawSphere(armBackLeft); - drawSphere(armBackRight); - - drawCylinder(armFrontLeft, armFrontRight); - drawCylinder(armBackLeft, armBackRight); - drawCylinder(armFrontLeft, armBackLeft); - drawCylinder(armFrontRight, armBackRight); - } //Draw cylinders between finger joints for (int i = 0; i < 5; i++) { @@ -199,7 +283,7 @@ public override void UpdateHand() { } private void drawSphere(Vector3 position) { - drawSphere(position, _jointRadius); + drawSphere(position, _jointRadius * stretchFactor); } private void drawSphere(Vector3 position, float radius) { @@ -267,8 +351,8 @@ private Mesh getCylinderMesh(float length) { Vector3 p1 = Vector3.forward * length; for (int i = 0; i < _cylinderResolution; i++) { float angle = (Mathf.PI * 2.0f * i) / _cylinderResolution; - float dx = _cylinderRadius * Mathf.Cos(angle); - float dy = _cylinderRadius * Mathf.Sin(angle); + float dx = _cylinderRadius * stretchFactor * Mathf.Cos(angle); + float dy = _cylinderRadius * stretchFactor * Mathf.Sin(angle); Vector3 spoke = new Vector3(dx, dy, 0); diff --git a/Assets/Plugins/LeapMotion/Core/Scripts/Hands/HandEnableDisable.cs b/Assets/Plugins/LeapMotion/Core/Scripts/Hands/HandEnableDisable.cs index cfb33c12..992a3a11 100644 --- a/Assets/Plugins/LeapMotion/Core/Scripts/Hands/HandEnableDisable.cs +++ b/Assets/Plugins/LeapMotion/Core/Scripts/Hands/HandEnableDisable.cs @@ -24,7 +24,7 @@ protected override void HandReset() { } protected override void HandFinish() { - gameObject.SetActive(false); + // gameObject.SetActive(false); } } diff --git a/Assets/Plugins/LeapMotion/Core/Scripts/Utils/PostProcessProvider.cs b/Assets/Plugins/LeapMotion/Core/Scripts/Utils/PostProcessProvider.cs index 8dc96882..4bdda6d6 100644 --- a/Assets/Plugins/LeapMotion/Core/Scripts/Utils/PostProcessProvider.cs +++ b/Assets/Plugins/LeapMotion/Core/Scripts/Utils/PostProcessProvider.cs @@ -38,6 +38,21 @@ public LeapProvider inputLeapProvider { } } } + + private void Start() + { + if (_inputLeapProvider == null) + { + _inputLeapProvider = Hands.Provider; + _inputLeapProvider.OnFixedFrame -= processFixedFrame; // safeguard double-subscription + _inputLeapProvider.OnFixedFrame += processFixedFrame; + _inputLeapProvider.OnUpdateFrame -= processUpdateFrame; // safeguard double-subscription + _inputLeapProvider.OnUpdateFrame += processUpdateFrame; + } + + } + + public enum DataUpdateMode { UpdateOnly, FixedUpdateOnly, UpdateAndFixedUpdate } [Tooltip("Whether this post-processing provider should process data received from " + @@ -111,7 +126,7 @@ private bool detectCycle() { return false; } - private void processUpdateFrame(Frame inputFrame) { + public void processUpdateFrame(Frame inputFrame) { if (dataUpdateMode == DataUpdateMode.FixedUpdateOnly) { return; } @@ -123,7 +138,7 @@ private void processUpdateFrame(Frame inputFrame) { } } - private void processFixedFrame(Frame inputFrame) { + public void processFixedFrame(Frame inputFrame) { if (dataUpdateMode == DataUpdateMode.UpdateOnly) { return; } diff --git a/Assets/Plugins/LeapMotion/North Star/Materials/EyePorts/Left_Mesh.renderTexture b/Assets/Plugins/LeapMotion/North Star/Materials/EyePorts/Left_Mesh.renderTexture index 71f5fb5a..dc93bf6a 100644 --- a/Assets/Plugins/LeapMotion/North Star/Materials/EyePorts/Left_Mesh.renderTexture +++ b/Assets/Plugins/LeapMotion/North Star/Materials/EyePorts/Left_Mesh.renderTexture @@ -3,24 +3,30 @@ --- !u!84 &8400000 RenderTexture: m_ObjectHideFlags: 0 - 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diff --git a/Assets/Plugins/MRTK/Providers/Esky/LeapMotion/EskyDeviceManager.cs b/Assets/Plugins/MRTK/Providers/Esky/LeapMotion/EskyDeviceManager.cs index 0c3710eb..81337abc 100644 --- a/Assets/Plugins/MRTK/Providers/Esky/LeapMotion/EskyDeviceManager.cs +++ b/Assets/Plugins/MRTK/Providers/Esky/LeapMotion/EskyDeviceManager.cs @@ -201,8 +201,8 @@ public override void Enable() if(LeapProviderEsky != null){ LeapMotionServiceProvider = LeapProviderEsky.GetComponent(); Debug.Log("Setting the hand models"); - GameObject g = GameObject.Find("HandModels"); - g.GetComponent().leapProvider = LeapMotionServiceProvider; + // GameObject g = GameObject.Find("HandModels"); + // g.GetComponent().leapProvider = LeapMotionServiceProvider; }else{ Debug.LogError("Couldn't find a 'LeapMotion' game object in scene, the Esky Leapmotion provider needs this, did you modify the transform structure???"); } diff --git a/Assets/Plugins/MRTK/SDK/Features/UX/Interactable/Materials/HolographicButtonContentCage.mat 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8400000 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Fluid/HandFluidInteractor.cs b/Assets/Scripts/Fluid/HandFluidInteractor.cs new file mode 100644 index 00000000..49431336 --- /dev/null +++ b/Assets/Scripts/Fluid/HandFluidInteractor.cs @@ -0,0 +1,97 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using System.Linq; +using UnityEngine; +using Leap.Unity; +using Leap.Unity.Attributes; + +public class HandFluidInteractor : MonoBehaviour +{ + public Solver solver; + private int kernel; + private ComputeShader solverShader; + private int numParticles; + private ComputeBuffer jointsBuffer; + + public CapsuleHand leftHand; + public CapsuleHand rightHand; + private int totalJointsCount; + private float leftHandScale, rightHandScale; + + + public struct HandJoints + { + public Vector3 centroid; + public float radius; + + public HandJoints(Vector3 c, float r) + { + centroid = c; + radius = r; + } + + public void setCentroid(Vector3 pos) + { + centroid = pos; + } + } + + private HandJoints[] joints; + + private void Start() + { + // 在Start或Awake中初始化 jonts 数组 + int initJointsCount = leftHand._spherePositions.Length + rightHand._spherePositions.Length; + joints = new HandJoints[initJointsCount]; + leftHandScale = leftHand.gameObject.transform.localScale.x; + rightHandScale = rightHand.gameObject.transform.localScale.x; + } + private void UpdateHandJoints() + { + totalJointsCount = leftHand._spherePositions.Length + rightHand._spherePositions.Length; + if (totalJointsCount > 0 && (joints == null || joints.Length < totalJointsCount)) + { + joints = new HandJoints[totalJointsCount]; + } + + int index = 0; + foreach (Vector3 pos in leftHand._spherePositions) + joints[index++] = (new HandJoints(pos, Mathf.Min(2,leftHand._jointRadius * 2f * rightHand.stretchFactor))); + foreach (Vector3 pos in rightHand._spherePositions) + joints[index++] = (new HandJoints(pos, Mathf.Min(2,rightHand._jointRadius * 2f * rightHand.stretchFactor))); + + if (totalJointsCount > 0) + { + if (jointsBuffer == null || jointsBuffer.count < totalJointsCount) + { + jointsBuffer?.Release(); + jointsBuffer = new ComputeBuffer(totalJointsCount, sizeof(float) * 4); + } + if(joints != null) + jointsBuffer?.SetData(joints); + + solverShader.SetBuffer(kernel, "handJoints", jointsBuffer); + // Debug.Log("Joints buffer size :" + joints.Length + " with first element:\ncentroid: " + joints[0].centroid + " radius:" + joints[0].radius); + } + solverShader.SetInt("jointsCount", totalJointsCount); + } + + private void OnEnable() + { + solverShader = solver.solverShader; + kernel = solverShader.FindKernel("CheckHandJoints"); + UpdateHandJoints(); + } + + private void Update() + { + UpdateHandJoints(); + } + + public void Solve(int x, int y, int z) + { + if (!enabled) return; + solverShader.Dispatch(kernel, x, y, z); + } +} diff --git a/Assets/Scripts/Fluid/HandFluidInteractor.cs.meta b/Assets/Scripts/Fluid/HandFluidInteractor.cs.meta new file mode 100644 index 00000000..72e8f8a6 --- /dev/null +++ b/Assets/Scripts/Fluid/HandFluidInteractor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2231f562c73cf84419c35aa8ce599a70 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Fluid/RigidObjSolver.cs b/Assets/Scripts/Fluid/RigidObjSolver.cs index ebb7396b..567f2fdd 100644 --- a/Assets/Scripts/Fluid/RigidObjSolver.cs +++ b/Assets/Scripts/Fluid/RigidObjSolver.cs @@ -1,6 +1,8 @@ using System; using System.Collections; using System.Collections.Generic; +using System.Linq; +using Leap.Unity; using UnityEngine; public class RigidObjSolver : MonoBehaviour @@ -13,7 +15,7 @@ public class RigidObjSolver : MonoBehaviour private Vector3 minBounds = new Vector3(-10, -10, -10); private Vector3 maxBounds = new Vector3(10, 10, 10); private ComputeShader solverShader; - private int StepKernel; + private int checkKernel; public RigidSphereScript[] rigidSphereScripts; private RigidSphere[] rigidSpheres; @@ -29,6 +31,7 @@ public class RigidObjSolver : MonoBehaviour private int[] indices; private int[] LastIndex; + private void Start() { solver = GetComponent(); @@ -43,7 +46,7 @@ private void Start() solverShader.SetInt("cntCube", cntCube); solverShader.SetInt("cntSphere", cntSphere); - StepKernel = solverShader.FindKernel("Step"); + checkKernel = solverShader.FindKernel("CheckSolid"); //otherwise crashes CubeBuffer = new ComputeBuffer(Math.Max(1, cntCube), 42 * sizeof(float)); @@ -59,8 +62,9 @@ private void Start() if (cntSphere > 0) { rigidSpheres = new RigidSphere[cntSphere]; + for (int i = 0; i < cntSphere; i++) - rigidSpheres[i] = rigidSphereScripts[i].rigidSphere; + rigidSpheres[i] = rigidSphereScripts[i].rigidSphere; SphereBuffer.SetData(rigidSpheres); } @@ -78,25 +82,29 @@ private void Start() IndexBuffer.SetData(indices); LastIndexBuffer.SetData(LastIndex); - solverShader.SetBuffer(StepKernel, "rigidImpulses", ImpulseBuffer); - solverShader.SetBuffer(StepKernel, "rigidIndices", IndexBuffer); - solverShader.SetBuffer(StepKernel, "rigidLastIndex", LastIndexBuffer); - solverShader.SetBuffer(StepKernel, "rigidCubes", CubeBuffer); - solverShader.SetBuffer(StepKernel, "rigidSpheres", SphereBuffer); + solverShader.SetBuffer(checkKernel, "rigidImpulses", ImpulseBuffer); + solverShader.SetBuffer(checkKernel, "rigidIndices", IndexBuffer); + solverShader.SetBuffer(checkKernel, "rigidLastIndex", LastIndexBuffer); + solverShader.SetBuffer(checkKernel, "rigidCubes", CubeBuffer); + solverShader.SetBuffer(checkKernel, "rigidSpheres", SphereBuffer); } + public void Solve(int x,int y,int z) + { + if (!enabled) return; + solverShader.Dispatch(checkKernel, x, y, z); + } public void UpdateRigidObjects() { + if(!enabled) return; ImpulseBuffer.GetData(impulses); IndexBuffer.GetData(indices); LastIndexBuffer.GetData(LastIndex); - Debug.Log(LastIndex[0]); for (uint i = 0; i < cntCube; i++) rigidCubeScripts[i].InitBeforeUpdate(); for (uint i = 0; i < cntSphere; i++) rigidSphereScripts[i].InitBeforeUpdate(); - for (uint i = 0; i < LastIndex[0]; i++) { if (indices[i] < 0) @@ -111,21 +119,20 @@ public void UpdateRigidObjects() if (cntCube > 0) { for (uint i = 0; i < cntCube; i++) - rigidCubes[i] = rigidCubeScripts[i].UpdateState(minBounds, maxBounds); + rigidCubes[i] = rigidCubeScripts[i].UpdateState(); CubeBuffer.SetData(rigidCubes); - solverShader.SetBuffer(StepKernel, "rigidCubes", CubeBuffer); + solverShader.SetBuffer(checkKernel, "rigidCubes", CubeBuffer); } if (cntSphere > 0) { for (uint i = 0; i < cntSphere; i++) - rigidSpheres[i] = rigidSphereScripts[i].UpdateState(minBounds, maxBounds); + rigidSpheres[i] = rigidSphereScripts[i].UpdateState(); SphereBuffer.SetData(rigidSpheres); - solverShader.SetBuffer(StepKernel, "rigidSpheres", SphereBuffer); + solverShader.SetBuffer(checkKernel, "rigidSpheres", SphereBuffer); } + LastIndex[0] = 0; LastIndexBuffer.SetData(LastIndex); - Debug.Log(LastIndex[0]); - } } diff --git a/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs b/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs new file mode 100644 index 00000000..3bb7ee07 --- /dev/null +++ b/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs @@ -0,0 +1,451 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEditor; +using UnityEngine.Tilemaps; +// using UnityEditor.TextCore; +using System.Reflection; +// using static UnityEditor.PlayerSettings; + +// [CustomEditor(typeof(BreakableWall))] +// public class BreakableWallEditor : Editor +// { +// public override void OnInspectorGUI() +// { +// DrawDefaultInspector(); +// +// BreakableWall script = (BreakableWall)target; +// +// if (GUILayout.Button("Regenerate Mesh")) +// { +// script.GenerateFragmentedMesh(); +// script.BuildMeshFromList(); +// } +// +// if (GUILayout.Button("Debug Breaking")) +// { +// script.GenerateFragmentedMesh(); +// script.BuildMeshFromList(); +// script.InitTidFromList(); +// script.InitCS(); +// script.BreakWall(new Vector3(20f, 0f, 20f), 5f); +// } +// +// if (GUILayout.Button("Debug Rasterization")) +// { +// script.GenerateFragmentedMesh(); +// script.BuildMeshFromList(); +// script.InitTidFromList(); +// script.CheckRasterization(); +// } +// if (GUILayout.Button("Debug")) +// { +// Debug.Log(script.gameObject.transform.up); +// Debug.Log(script.gameObject.transform.right); +// Debug.Log(script.gameObject.transform.forward); +// script.DebugTemp(); +// } +// } +// } + +public class BreakableWall : MonoBehaviour +{ + public Vector2 size = new Vector2(10f, 10f); + + public int ExpectCount = 100; + public float RasterizeResolution = 100; + + private float ExpectSize = 1f; + + private int[] tid; + private int[] exist; + + + struct DebrisTriangle + { + public Vector3 a, b, c; + public int id; + public DebrisTriangle setId(int i) { this.id = i;return this; } + + public DebrisTriangle(Vector3 aa, Vector3 bb, Vector3 cc) + { + a = aa; b = bb; c = cc; + id = 0; + } + public float SignedArea() + { + Vector3 area = Vector3.Cross(b - a, c - a); + if (area.x != 0 || area.z != 0) + Debug.LogError("Error In Calculating Signed Area In BreakableWall.cs!"); + return area.y * 0.5f; + } + public float DisToPoint(Vector3 point) + { + Vector3 v0 = c - a; + Vector3 v1 = b - a; + Vector3 v2 = point - a; + + float dot00 = Vector3.Dot(v0, v0); + float dot01 = Vector3.Dot(v0, v1); + float dot02 = Vector3.Dot(v0, v2); + float dot11 = Vector3.Dot(v1, v1); + float dot12 = Vector3.Dot(v1, v2); + + float invDenom = 1 / (dot00 * dot11 - dot01 * dot01); + float u = (dot11 * dot02 - dot01 * dot12) * invDenom; + float v = (dot00 * dot12 - dot01 * dot02) * invDenom; + + if ((u >= 0) && (v >= 0) && (u + v < 1)) + return 0f; + + float dis1 = DistancePointToSegment(point, a, b); + float dis2 = DistancePointToSegment(point, b, c); + float dis3 = DistancePointToSegment(point, c, a); + return Mathf.Min(dis1, dis2, dis3); + } + private static float DistancePointToSegment(Vector3 p, Vector3 a, Vector3 b) + { + Vector3 ab = b - a; + Vector3 ap = p - a; + + float abLengthSquared = Vector3.Dot(ab, ab); + float projection = Vector3.Dot(ap, ab) / abLengthSquared; + + if (projection < 0) + { + return Vector3.Distance(p, a); + } + else if (projection > 1) + { + return Vector3.Distance(p, b); + } + else + { + Vector3 closestPoint = a + projection * ab; + return Vector3.Distance(p, closestPoint); + } + } + }; + struct Quad + { + // b d + // a c + public Vector3 a, b, c, d; + public Quad(Vector3 aa, Vector3 bb, Vector3 cc, Vector3 dd) + { + a = aa; b = bb; c = cc; d = dd; + } + public float CalcArea() + { + Vector3 ad = d - a; + Vector3 cb = b - c; + return 0.5f * Vector3.Cross(ad, cb).magnitude; + } + public void Log() + { + Debug.Log(b + " " + d + "\n" + a + " " + c); + } + }; + private List debrisTriangles; + private Queue quads; + + private void Start() + { + GenerateFragmentedMesh(); + BuildMeshFromList(); + InitTidFromList(); + InitCS(); + } + protected float NormalRandom() + { + System.Random random = new System.Random(); + float u1 = (float)random.NextDouble(); + float u2 = (float)random.NextDouble(); + float z0 = Mathf.Sqrt(-2.0f * Mathf.Log(u1)) * Mathf.Cos(2.0f * Mathf.PI * u2); + return (0.5f + z0 / 6f); + } + + public void GenerateFragmentedMesh() + { + ExpectSize = size.x * size.y / ExpectCount; + + debrisTriangles = new List(); + quads = new Queue(); + quads.Enqueue(new Quad(new Vector3(0f, 0f, 0f), + new Vector3(0f, 0f, size.y), + new Vector3(size.x, 0f, 0f), + new Vector3(size.x, 0f, size.y))); + + + while (quads.Count > 0) + { + + Quad u = quads.Dequeue(); + Vector3 ac, ab, bd, cd, o; + ac = Vector3.Lerp(u.a, u.c, NormalRandom()); + ab = Vector3.Lerp(u.a, u.b, NormalRandom()); + bd = Vector3.Lerp(u.b, u.d, NormalRandom()); + cd = Vector3.Lerp(u.c, u.d, NormalRandom()); + o = Vector3.Lerp( + Vector3.Lerp(u.a, u.c, NormalRandom()), + Vector3.Lerp(u.b, u.d, NormalRandom()), + NormalRandom() + ); + + //Debug.Log(u.b + " " + bd + " " + u.d + "\n" + ab + " " + o + " " + cd + "\n" + u.a + " " + ac + " " + u.c); + + Quad[] v = new Quad[4]; + v[0] = new Quad(u.a, ab, ac, o); + v[1] = new Quad(ab, u.b, o, bd); + v[2] = new Quad(o, bd, cd, u.d); + v[3] = new Quad(ac, o, u.c, cd); + + foreach (Quad vv in v) + { + float area = vv.CalcArea(); + float rate = 1f; + rate = 2f - area / ExpectSize; + if (Random.value < rate) + { + DebrisTriangle a1 = new DebrisTriangle(vv.a, vv.b, vv.c); + DebrisTriangle a2 = new DebrisTriangle(vv.c, vv.b, vv.d); + DebrisTriangle b1 = new DebrisTriangle(vv.a, vv.d, vv.c); + DebrisTriangle b2 = new DebrisTriangle(vv.a, vv.b, vv.d); + + float adiff = Mathf.Abs(a1.SignedArea() - a2.SignedArea()); + float bdiff = Mathf.Abs(b1.SignedArea() - b2.SignedArea()); + int N = debrisTriangles.Count; + if(adiff > bdiff) + { + debrisTriangles.Add(b1.setId(N)); + debrisTriangles.Add(b2.setId(N + 1)); + } + else + { + debrisTriangles.Add(a1.setId(N)); + debrisTriangles.Add(a2.setId(N + 1)); + } + } + else + { + quads.Enqueue(vv); + } + } + } + } + + void Swap(ref Vector3 v1, ref Vector3 v2) + { + Vector3 temp = v1; + v1 = v2; + v2 = temp; + } + public void InitTidFromList() + { + int N = debrisTriangles.Count; + + tid = new int[(int)(size.x * RasterizeResolution * size.y * RasterizeResolution)]; + exist = new int[N]; + + for (int i = 0; i < N; i++) + { + exist[i] = 1; + + Vector3 a = debrisTriangles[i].a; + Vector3 b = debrisTriangles[i].b; + Vector3 c = debrisTriangles[i].c; + if (a.x > b.x) Swap(ref a, ref b); + if (a.x > c.x) Swap(ref a, ref c); + if (b.z < c.z) Swap(ref b, ref c); + float midX = Mathf.Min(b.x, c.x); + float maxX = Mathf.Max(b.x, c.x); + + if (midX != a.x) + { + for (int xid = (int)(a.x * RasterizeResolution); (xid / RasterizeResolution <= midX) && xid < size.x * RasterizeResolution; xid++) + { + float t = (xid / RasterizeResolution - a.x) / (b.x - a.x); + float y = Vector3.Lerp(a, b, t).z; + float ymax = y; + float ymin = y; + t = ((xid + 1f) / RasterizeResolution - a.x) / (b.x - a.x); + y = Vector3.Lerp(a, b, t).z; + ymax = Mathf.Max(ymax, y);ymin = Mathf.Min(ymin, y); + + t = ((xid) / RasterizeResolution - a.x) / (c.x - a.x); + y = Vector3.Lerp(a, c, t).z; + ymax = Mathf.Max(ymax, y); ymin = Mathf.Min(ymin, y); + t = ((xid + 1f) / RasterizeResolution - a.x) / (c.x - a.x); + y = Vector3.Lerp(a, c, t).z; + ymax = Mathf.Max(ymax, y); ymin = Mathf.Min(ymin, y); + + for (int yid = (int)(ymin * RasterizeResolution); (yid / RasterizeResolution <= ymax) && yid < size.y * RasterizeResolution; yid++) + { + tid[(int)(yid * RasterizeResolution * size.x + xid)] = i; + } + } + } + + if(midX == c.x) Swap(ref b, ref c); + + if (b.x != c.x) + { + for (int xid = (int)(midX * RasterizeResolution); (xid / RasterizeResolution <= maxX) && xid < size.x * RasterizeResolution; xid++) + { + float t = (xid / RasterizeResolution - a.x) / (c.x - a.x); + float y = Vector3.Lerp(a, c, t).z; + float ymax = y; + float ymin = y; + t = ((xid + 1f) / RasterizeResolution - a.x) / (c.x - a.x); + y = Vector3.Lerp(a, c, t).z; + ymax = Mathf.Max(ymax, y); ymin = Mathf.Min(ymin, y); + + t = ((xid) / RasterizeResolution - b.x) / (c.x - b.x); + y = Vector3.Lerp(b, c, t).z; + ymax = Mathf.Max(ymax, y); ymin = Mathf.Min(ymin, y); + t = ((xid + 1f) / RasterizeResolution - b.x) / (c.x - b.x); + y = Vector3.Lerp(b, c, t).z; + ymax = Mathf.Max(ymax, y); ymin = Mathf.Min(ymin, y); + + for (int yid = (int)(ymin * RasterizeResolution); (yid / RasterizeResolution <= ymax) && yid < size.y * RasterizeResolution; yid++) + { + tid[(int)(yid * RasterizeResolution * size.x + xid)] = i; + } + } + } + } + + } + + public void CheckRasterization() + { + Texture2D texture = new Texture2D((int)(size.x * RasterizeResolution), (int)(size.y * RasterizeResolution)); + int N = debrisTriangles.Count; + + for (int y = 0; y < (int)(size.y * RasterizeResolution); y++) + { + for (int x = 0; x < (int)(size.x * RasterizeResolution); x++) + { + int index = y * (int)(size.x * RasterizeResolution) + x; + float value = (float)tid[index]; + Color color = new Color(value / N, value / N, value / N); + texture.SetPixel(x, y, color); + } + } + texture.wrapMode = TextureWrapMode.Clamp; + texture.Apply(); + + Renderer renderer = GetComponent(); + renderer.sharedMaterial.mainTexture = texture; + } + public void BuildMeshFromList() + { + Mesh mesh = new Mesh(); + GetComponent().mesh = mesh; + + int N = debrisTriangles.Count; + Vector3[] vertices = new Vector3[3 * N]; + for (int i = 0; i < N; i++) + { + vertices[3 * i + 0] = debrisTriangles[i].a; + vertices[3 * i + 1] = debrisTriangles[i].b; + vertices[3 * i + 2] = debrisTriangles[i].c; + } + + int[] triangles = new int[3 * N]; + for (int i = 0; i < N; i++) + { + triangles[3 * i + 0] = 3 * i + 0; + triangles[3 * i + 1] = 3 * i + 1; + triangles[3 * i + 2] = 3 * i + 2; + } + + mesh.vertices = vertices; + mesh.triangles = triangles; + mesh.RecalculateNormals(); + } + + public void BreakWall(Vector3 point, float strength) + { + List removeList = new List(); + foreach (DebrisTriangle triangle in debrisTriangles) + { + if (triangle.DisToPoint(point) <= strength) + { + removeList.Add(triangle); + exist[triangle.id] = 0; + } + } + foreach(DebrisTriangle triangle in removeList) + debrisTriangles.Remove(triangle); + if (removeList.Count > 0) BuildMeshFromList(); + + existBuffer.SetData(exist); + solverShader.SetBuffer(kernel, "breakableWallExist", existBuffer); + } + + public void Update() + { + if(Input.GetKeyDown(KeyCode.B)) + { + BreakWall(new Vector3(20f, 0f, 5f), 2f); + } + } + + + + + + + + + + + public Vector3 offset; + + private int kernel; + public Solver solver; + private ComputeShader solverShader; + private int numParticles; + + private ComputeBuffer tidBuffer, existBuffer; + public void InitCS() + { + this.solverShader = solver.solverShader; + + kernel = solverShader.FindKernel("CheckBreakableWall"); + solverShader.SetFloats("breakableWallPos", transform.position.x + offset.x, transform.position.y + offset.y, transform.position.z + offset.z); + solverShader.SetFloats("breakableWallNormal", transform.up.x, transform.up.y, transform.up.z); + solverShader.SetFloats("breakableWallX", transform.right.x, transform.right.y, transform.right.z); + solverShader.SetFloats("breakableWallY", transform.forward.x, transform.forward.y, transform.forward.z); + solverShader.SetFloats("breakableWallSize", size.x, size.y); + solverShader.SetFloat("breakableWallResolution", RasterizeResolution); + solverShader.SetInt("breakableTotalIndex", tid.Length); + tidBuffer = new ComputeBuffer(tid.Length, sizeof(int)); + existBuffer = new ComputeBuffer(exist.Length, sizeof(int)); + tidBuffer.SetData(tid); + existBuffer.SetData(exist); + + solverShader.SetBuffer(kernel, "breakableWallTid", tidBuffer); + solverShader.SetBuffer(kernel, "breakableWallExist", existBuffer); + } + public void Solve(int x, int y, int z) + { + if (!enabled) return; + solverShader.Dispatch(kernel, x, y, z); + } + public void DebugTemp() + { + Vector3 pos = new Vector3(1f, 2f, 19f); + Vector3 plane2pos = pos - transform.position; + + int planeX = (int)(Vector3.Dot(plane2pos, transform.right) * RasterizeResolution); + int planeY = (int)(Vector3.Dot(plane2pos, transform.forward) * RasterizeResolution); + int tindex = ((int)(size.x * RasterizeResolution)) * planeY + planeX; + + int exists = exist[tid[tindex]]; + + Debug.Log("orig:" + pos + " planePos:" + planeX + " " + planeY + "\ntindex is " + tindex + " exist: " + exists); + + } +} diff --git a/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs.meta b/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs.meta new file mode 100644 index 00000000..8d474a4e --- /dev/null +++ b/Assets/Scripts/Fluid/RigidObject/BreakableWall.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 7cb97a559b48a254085d0ac70bde5b5a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Fluid/RigidObject/RigidCubeScript.cs b/Assets/Scripts/Fluid/RigidObject/RigidCubeScript.cs index b0896c71..bc25d53d 100644 --- a/Assets/Scripts/Fluid/RigidObject/RigidCubeScript.cs +++ b/Assets/Scripts/Fluid/RigidObject/RigidCubeScript.cs @@ -9,8 +9,7 @@ public class RigidCubeScript : MonoBehaviour public float density = 1f; private float mass; - private Vector3 velocity; - public Vector3 gravity = new Vector3(0f, -9.8f, 0f); + private Rigidbody rb; [HideInInspector] public Vector3 totalImpulse, totalAngularImpulse; @@ -19,7 +18,7 @@ public class RigidCubeScript : MonoBehaviour public RigidCube rigidCube; public bool UsingScaleAsSize; - public bool Kinetic = true; + //public bool Kinetic = true; public void InitBeforeUpdate() { @@ -29,80 +28,93 @@ public void InitBeforeUpdate() private void OnEnable() { if (UsingScaleAsSize) halfSize = transform.localScale.x / 2f; + rb = GetComponent(); rigidCube = new RigidCube(halfSize, transform.position, transform.rotation); mass = density * 8 * halfSize * halfSize * halfSize; + rb.mass = mass; } - public RigidCube UpdateState(Vector3 minBounds, Vector3 maxBounds) + public RigidCube UpdateState() { - if (!Kinetic) return rigidCube; - float dT = Time.deltaTime; - Vector3 pos = this.transform.position; - - //Impulse - velocity += totalImpulse / mass; - - //Angular - float inertia = 4f / 6f * mass * halfSize * halfSize; - Matrix4x4 InertiaTensor = Matrix4x4.identity; - InertiaTensor[0, 0] = inertia; - InertiaTensor[1, 1] = inertia; - InertiaTensor[2, 2] = inertia; - InertiaTensor = rigidCube.cubeRotationMatrix * InertiaTensor * rigidCube.inverseRotationMatrix; - Vector3 deltaAngularVelocity = InertiaTensor.inverse.MultiplyVector(totalAngularImpulse); - - rigidCube.angularVelocity += deltaAngularVelocity; - Quaternion deltaRotation = Quaternion.Euler(rigidCube.angularVelocity * dT * Mathf.Rad2Deg); - transform.rotation = deltaRotation * transform.rotation; - - rigidCube.cubeRotationMatrix = Matrix4x4.Rotate(transform.rotation); - rigidCube.inverseRotationMatrix = rigidCube.cubeRotationMatrix.inverse; - - //Force - velocity += gravity * dT; - pos += velocity * dT; - - //Check Bounds - if (pos.x < minBounds.x + halfSize) - { - pos.x = minBounds.x + halfSize; - if (velocity.x < 0f) - velocity.x = 0f; - } - else if (pos.x > maxBounds.x - halfSize) - { - pos.x = maxBounds.x - halfSize; - if (velocity.x > 0f) - velocity.x = 0f; - } - else if (pos.y < minBounds.y + halfSize) - { - pos.y = minBounds.y + halfSize; - if (velocity.y < 0f) - velocity.y = 0f; - } - else if (pos.y > maxBounds.y - halfSize) - { - pos.y = maxBounds.y - halfSize; - if (velocity.y > 0f) - velocity.y = 0f; - } - else if (pos.z < minBounds.z + halfSize) - { - pos.z = minBounds.z + halfSize; - if (velocity.z < 0f) - velocity.z = 0f; - } - else if (pos.z > maxBounds.z - halfSize) - { - pos.z = maxBounds.z - halfSize; - if (velocity.z > 0f) - velocity.z = 0f; - } - - transform.position = pos; - rigidCube.velocity = velocity; - rigidCube.centroid = pos; + //if (!Kinetic) + //{ + // rb.velocity = Vector3.zero; + // rb.angularVelocity = Vector3.zero; + // rigidCube.centroid = rb.position; + // return rigidCube; + //} + //float dT = Time.deltaTime; + //Vector3 pos = this.transform.position; + + ////Impulse + //velocity += totalImpulse / mass; + + ////Angular + //float inertia = 4f / 6f * mass * halfSize * halfSize; + //Matrix4x4 InertiaTensor = Matrix4x4.identity; + //InertiaTensor[0, 0] = inertia; + //InertiaTensor[1, 1] = inertia; + //InertiaTensor[2, 2] = inertia; + //InertiaTensor = rigidCube.cubeRotationMatrix * InertiaTensor * rigidCube.inverseRotationMatrix; + //Vector3 deltaAngularVelocity = InertiaTensor.inverse.MultiplyVector(totalAngularImpulse); + + //rigidCube.angularVelocity += deltaAngularVelocity; + //Quaternion deltaRotation = Quaternion.Euler(rigidCube.angularVelocity * dT * Mathf.Rad2Deg); + //transform.rotation = deltaRotation * transform.rotation; + + //rigidCube.cubeRotationMatrix = Matrix4x4.Rotate(transform.rotation); + //rigidCube.inverseRotationMatrix = rigidCube.cubeRotationMatrix.inverse; + + ////Force + //velocity += gravity * dT; + //pos += velocity * dT; + + ////Check Bounds + //if (pos.x < minBounds.x + halfSize) + //{ + // pos.x = minBounds.x + halfSize; + // if (velocity.x < 0f) + // velocity.x = 0f; + //} + //else if (pos.x > maxBounds.x - halfSize) + //{ + // pos.x = maxBounds.x - halfSize; + // if (velocity.x > 0f) + // velocity.x = 0f; + //} + //else if (pos.y < minBounds.y + halfSize) + //{ + // pos.y = minBounds.y + halfSize; + // if (velocity.y < 0f) + // velocity.y = 0f; + //} + //else if (pos.y > maxBounds.y - halfSize) + //{ + // pos.y = maxBounds.y - halfSize; + // if (velocity.y > 0f) + // velocity.y = 0f; + //} + //else if (pos.z < minBounds.z + halfSize) + //{ + // pos.z = minBounds.z + halfSize; + // if (velocity.z < 0f) + // velocity.z = 0f; + //} + //else if (pos.z > maxBounds.z - halfSize) + //{ + // pos.z = maxBounds.z - halfSize; + // if (velocity.z > 0f) + // velocity.z = 0f; + //} + + rb.AddForce(totalImpulse, ForceMode.Impulse); + rb.AddTorque(totalAngularImpulse, ForceMode.Impulse); + + rigidCube.velocity = rb.velocity; + rigidCube.centroid = rb.position; + rigidCube.angularVelocity = rb.angularVelocity; + rigidCube.UpdateRotationMatrix(rb.rotation); + return rigidCube; } } \ No newline at end of file diff --git a/Assets/Scripts/Fluid/RigidObject/RigidSolidObject.cs b/Assets/Scripts/Fluid/RigidObject/RigidSolidObject.cs index faf952e1..3dd90e41 100644 --- a/Assets/Scripts/Fluid/RigidObject/RigidSolidObject.cs +++ b/Assets/Scripts/Fluid/RigidObject/RigidSolidObject.cs @@ -22,6 +22,12 @@ public RigidCube(float size, Vector3 centroid, Quaternion rotation) velocity = Vector3.zero; angularVelocity = Vector3.zero; } + + public void UpdateRotationMatrix(Quaternion rotation) + { + cubeRotationMatrix = Matrix4x4.Rotate(rotation); + inverseRotationMatrix = cubeRotationMatrix.inverse; + } } public struct RigidSphere @@ -35,4 +41,4 @@ public RigidSphere(float radius, Vector3 centroid) this.centroid = centroid; velocity = Vector3.zero; } -} +} \ No newline at end of file diff --git a/Assets/Scripts/Fluid/RigidObject/RigidSphereScript.cs b/Assets/Scripts/Fluid/RigidObject/RigidSphereScript.cs index 1723adf4..93a609f6 100644 --- a/Assets/Scripts/Fluid/RigidObject/RigidSphereScript.cs +++ b/Assets/Scripts/Fluid/RigidObject/RigidSphereScript.cs @@ -1,7 +1,8 @@ +using System; using System.Collections; using System.Collections.Generic; using UnityEngine; - +using UnityEngine.PlayerLoop; public class RigidSphereScript : MonoBehaviour @@ -10,81 +11,50 @@ public class RigidSphereScript : MonoBehaviour public float density = 1f; private float mass; - private Vector3 velocity; - public Vector3 gravity = new Vector3(0f, -9.8f, 0f); + + + private Rigidbody rb; [HideInInspector] public Vector3 totalImpulse; public bool UsingScaleAsSize; + public bool Kinetic = true; + [HideInInspector] public RigidSphere rigidSphere; + + public void InitBeforeUpdate() { totalImpulse = Vector3.zero; } + private void Update() + { + // Debug.Log(transform.localPosition); + // Debug.Log("---"); + // Debug.Log(transform.position); + } + + private void OnEnable() { if (UsingScaleAsSize) radius = transform.localScale.x / 2f; rigidSphere = new RigidSphere(radius, transform.position); + rb = GetComponent(); mass = density * 4f / 3f * Mathf.PI * radius * radius * radius; + rb.mass = mass; } - public RigidSphere UpdateState(Vector3 minBounds, Vector3 maxBounds) + public RigidSphere UpdateState() { - float dT = Time.deltaTime; - Vector3 pos = this.transform.position; - //Impulse - velocity += totalImpulse / mass; - Debug.Log(totalImpulse / mass + " vel: " + velocity); - //Force - velocity += gravity * dT; - - pos += velocity * dT; - - //Check Bounds - if(pos.x < minBounds.x + radius) - { - pos.x = minBounds.x + radius; - if(velocity.x < 0f) - velocity.x = 0f; - } - else if(pos.x > maxBounds.x - radius) - { - pos.x = maxBounds.x - radius; - if (velocity.x > 0f) - velocity.x = 0f; - } - else if (pos.y < minBounds.y + radius) - { - pos.y = minBounds.y + radius; - if (velocity.y < 0f) - velocity.y = 0f; - } - else if (pos.y > maxBounds.y - radius) - { - pos.y = maxBounds.y - radius; - if (velocity.y > 0f) - velocity.y = 0f; - } - else if (pos.z < minBounds.z + radius) - { - pos.z = minBounds.z + radius; - if (velocity.z < 0f) - velocity.z = 0f; - } - else if (pos.z > maxBounds.z - radius) - { - pos.z = maxBounds.z - radius; - if (velocity.z > 0f) - velocity.z = 0f; - } + if(Kinetic) + rb.AddForce(totalImpulse, ForceMode.Impulse); - transform.position = pos; - rigidSphere.centroid = pos; - rigidSphere.velocity = velocity; + rigidSphere.centroid = rb.position; + rigidSphere.velocity = rb.velocity; return rigidSphere; } } \ No newline at end of file diff --git a/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs b/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs new file mode 100644 index 00000000..2c44dea2 --- /dev/null +++ b/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs @@ -0,0 +1,47 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class SphereBehavior : MonoBehaviour +{ + private RigidSphereScript sphere; + private Rigidbody rb; + + private void OnEnable() + { + sphere = GetComponent(); + rb = GetComponent(); + } + + private void Start() + { + sphere.Kinetic = false; + } + + public void StartShooting() + { + sphere.Kinetic = false; + rb.useGravity = false; + StartCoroutine(Shooting()); + } + + private float rotationTime = 1.0f; + private Vector3 rotationSpeed = new Vector3(0f, 0f, 5f); + private Vector3 initPos = new Vector3(0f, 15f, 0f); + private Vector3 shotVel = new Vector3(0f, 0f, 10f); + + IEnumerator Shooting() + { + rb.angularVelocity = rotationSpeed; + yield return new WaitForSeconds(rotationTime); + + rb.velocity = shotVel; + while (rb.position.x <= -80f) + yield return new WaitForSeconds(0.5f); + + rb.velocity = Vector3.zero; + rb.position = initPos; + yield return null; + } +} diff --git a/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs.meta b/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs.meta new file mode 100644 index 00000000..6850eddf --- /dev/null +++ b/Assets/Scripts/Fluid/RigidObject/SphereBehavior.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: cae406b99b41156479780bf6b5eb95c8 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Fluid/Sim.compute b/Assets/Scripts/Fluid/Sim.compute index 21017e5d..210e8333 100644 --- a/Assets/Scripts/Fluid/Sim.compute +++ b/Assets/Scripts/Fluid/Sim.compute @@ -11,6 +11,10 @@ #pragma kernel CalcForces #pragma kernel CalcPCA #pragma kernel Step +#pragma kernel CheckPlane +#pragma kernel CheckSolid +#pragma kernel CheckBreakableWall +#pragma kernel CheckHandJoints #define PI 3.1415926535 @@ -74,31 +78,6 @@ RWStructuredBuffer hashDebug; RWStructuredBuffer hashValueDebug; -struct RigidCube -{ - float halfSize; - float3 cent; - float3 vel; - float3 angVel; - float4x4 cubeRotationMatrix; - float4x4 inverseRotationMatrix; -}; -struct RigidSphere -{ - float radius; - float3 cent; - float3 vel; -}; -uint cntCube, cntSphere; -RWStructuredBuffer rigidCubes; -RWStructuredBuffer rigidSpheres; - -RWStructuredBuffer rigidImpulses; -RWStructuredBuffer rigidIndices; -RWStructuredBuffer rigidLastIndex; - - - uint3 murmur_32_scramble(uint3 k) { k *= 0xcc9e2d51; @@ -450,6 +429,24 @@ void CalcPCA(uint3 id : SV_DispatchThreadID) } } + +[numthreads(1024, 1, 1)] +void Step(uint3 id : SV_DispatchThreadID) +{ + if (id.x < numParticles) + { + Particle pi = sorted[id.x]; + + float3 currAcc = forces[id.x].xyz / mass; + pi.vel.xyz += currAcc * deltaTime; + pi.pos.xyz += pi.vel.xyz * deltaTime; + + // particles[inverseIndices[id.x]] = pi; + particles[id.x] = pi; + } +} + + void checkPlane(float4 plane, inout float3 pos, inout float3 vel) { const float eps = 0.001; const float damping = 0.5; @@ -474,6 +471,52 @@ void checkPlane(float4 plane, inout float3 pos, inout float3 vel) { } } } +void TeleportCheck(inout float3 pos, inout float3 vel) +{ + if (pos.x <= -80.0 && pos.y <= 10.0)// && abs(pos.z) <= 10.0) + pos.x += 120.0; +} + +[numthreads(1024,1,1)] +void CheckPlane(uint3 id : SV_DispatchThreadID) +{ + if (id.x < numParticles) { + Particle pi = sorted[id.x]; + + TeleportCheck(pi.pos.xyz, pi.vel.xyz); + + [unroll] + for (uint i = 0; i < 7; i++) { + if (dot(planes[i], 1) != 0) checkPlane(planes[i], pi.pos.xyz, pi.vel.xyz); + } + + sorted[id.x] = pi; + } +} + + +struct RigidCube +{ + float halfSize; + float3 cent; + float3 vel; + float3 angVel; + float4x4 cubeRotationMatrix; + float4x4 inverseRotationMatrix; +}; +struct RigidSphere +{ + float radius; + float3 cent; + float3 vel; +}; +uint cntCube, cntSphere; +RWStructuredBuffer rigidCubes; +RWStructuredBuffer rigidSpheres; + +RWStructuredBuffer rigidImpulses; +RWStructuredBuffer rigidIndices; +RWStructuredBuffer rigidLastIndex; void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 vel) { @@ -487,7 +530,6 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v cubeSelfAngVel = mul(cube.inverseRotationMatrix, float4(cubeSelfAngVel, 1.0)).xyz; cubeSelfVel += cubeSelfAngVel; - float maxSize = max(abs(cubePos.x), max(abs(cubePos.y), abs(cubePos.z))); if (maxSize > cube.halfSize) return; @@ -496,7 +538,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v float3 angularImpulse = float3(0.0, 0.0, 0.0); if (cubePos.x == maxSize) { - cubePos.x = maxSize - eps; + cubePos.x = cube.halfSize + eps; if (cubeVel.x < cubeSelfVel.x) { float velDiff = cubeSelfVel.x - cubeVel.x; @@ -506,7 +548,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v } else if (cubePos.x == -maxSize) { - cubePos.x = -(maxSize - eps); + cubePos.x = -(cube.halfSize + eps); if (cubeVel.x > cubeSelfVel.x) { float velDiff = cubeSelfVel.x - cubeVel.x; @@ -516,7 +558,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v } else if (cubePos.y == maxSize) { - cubePos.y = maxSize - eps; + cubePos.y = cube.halfSize + eps; if (cubeVel.y < cubeSelfVel.y) { float velDiff = cubeSelfVel.y - cubeVel.y; @@ -526,7 +568,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v } else if (cubePos.y == -maxSize) { - cubePos.y = -(maxSize - eps); + cubePos.y = -(cube.halfSize + eps); if (cubeVel.y > cubeSelfVel.y) { float velDiff = cubeSelfVel.y - cubeVel.y; @@ -536,7 +578,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v } else if (cubePos.z == maxSize) { - cubePos.z = maxSize - eps; + cubePos.z = cube.halfSize + eps; if (cubeVel.z < cubeSelfVel.z) { float velDiff = cubeSelfVel.z - cubeVel.z; @@ -546,7 +588,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v } else if (cubePos.z == -maxSize) { - cubePos.z = -(maxSize - eps); + cubePos.z = -(cube.halfSize + eps); if (cubeVel.z > cubeSelfVel.z) { float velDiff = cubeSelfVel.z - cubeVel.z; @@ -566,7 +608,7 @@ void checkRigidCube(RigidCube cube, uint index, inout float4 pos, inout float4 v rigidIndices[curIndex] = -index; - pos.xyz = mul(cube.cubeRotationMatrix, float4(cubePos + cube.cent, 1.0)).xyz; + pos.xyz = mul(cube.cubeRotationMatrix, float4(cubePos, 1.0)).xyz + cube.cent; vel.xyz = mul(cube.cubeRotationMatrix, float4(cubeVel, 1.0)).xyz; } @@ -577,7 +619,7 @@ void checkRigidSphere(RigidSphere sphere, uint index, inout float4 pos, inout fl float3 sphere2pos = pos.xyz - sphere.cent; float dis = max(sqrt(dot(sphere2pos, sphere2pos)), eps); - if(dis > sphere.radius) + if (dis > sphere.radius) return; float3 norm = sphere2pos / dis; @@ -597,18 +639,12 @@ void checkRigidSphere(RigidSphere sphere, uint index, inout float4 pos, inout fl } } -[numthreads(1024,1,1)] -void Step (uint3 id : SV_DispatchThreadID) +[numthreads(1024, 1, 1)] +void CheckSolid(uint3 id : SV_DispatchThreadID) { - if (id.x < numParticles) { + if (id.x < numParticles) + { Particle pi = sorted[id.x]; - - float3 currAcc = forces[id.x].xyz / mass; - - [unroll] - for (uint i = 0; i < 7; i++) { - if (dot(planes[i], 1) != 0) checkPlane(planes[i], pi.pos.xyz, pi.vel.xyz); - } for (uint i = 0; i < cntCube; i++) @@ -620,11 +656,111 @@ void Step (uint3 id : SV_DispatchThreadID) checkRigidSphere(rigidSpheres[i], (i << 1), pi.pos, pi.vel); } - - pi.vel.xyz += currAcc * deltaTime; - pi.pos.xyz += pi.vel.xyz * deltaTime; + sorted[id.x] = pi; + } +} - // particles[inverseIndices[id.x]] = pi; - particles[id.x] = pi; + +float3 breakableWallPos; +float3 breakableWallNormal; +float3 breakableWallX; +float3 breakableWallY; +float2 breakableWallSize; +float breakableWallResolution; +int breakableTotalIndex; +RWStructuredBuffer breakableWallTid; +RWStructuredBuffer breakableWallExist; +void checkBreakablePlane(inout float3 pos, inout float3 vel) +{ + const float eps = 0.001; + const float damping = 0.5; + + float3 plane2pos = pos - breakableWallPos; + float3 plane2prepos = (pos - deltaTime * vel) - breakableWallPos; + float dis = dot(plane2pos, breakableWallNormal); + float predis = dot(plane2prepos, breakableWallNormal); + if (dis > 0 && predis > 0)return; + if (dis < 0 && predis < 0)return; + + int planeX = (dot(plane2pos, breakableWallX) * breakableWallResolution); + int planeY = (dot(plane2pos, breakableWallY) * breakableWallResolution); + int tindex = (int) (breakableWallSize.x * breakableWallResolution) * planeY + planeX; + if (tindex < 0 || tindex >= breakableTotalIndex) + return; + + + + //if (planeX == 0 && planeY == 0) + // return; + //if (breakableWallResolution == 0) + // return; + + + int exist = breakableWallExist[breakableWallTid[tindex]]; + if (exist == 0) + return; + + float3 bumpDir = breakableWallNormal; + if (predis < 0) + { + bumpDir = -bumpDir; + dis = -dis; + } + pos -= (dis - eps) * bumpDir; + if (dot(vel, bumpDir) < 0) + vel -= dot(vel, bumpDir) * bumpDir; +} + +[numthreads(1024, 1, 1)] +void CheckBreakableWall(uint3 id : SV_DispatchThreadID) +{ + if (id.x < numParticles) + { + Particle pi = sorted[id.x]; + + checkBreakablePlane(pi.pos.xyz, pi.vel.xyz); + + sorted[id.x] = pi; + } +} + +struct HandJoint +{ + float3 pos; + float r; +}; +int jointsCount; +RWStructuredBufferhandJoints; +void CheckHandJoint(HandJoint joint, inout float3 pos, inout float3 vel) +{ + const float eps = 0.001; + + float3 sphere2pos = pos - joint.pos; + float dis = max(sqrt(dot(sphere2pos, sphere2pos)), eps); + + if (dis > joint.r) + return; + + float3 norm = sphere2pos / dis; + pos.xyz = pos.xyz + norm * (joint.r - dis - eps); + float ptclVel = dot(vel, norm); + if (ptclVel < 0) + vel -= ptclVel * norm; + // if (length(vel) > 10) + // { + // vel = normalize(vel) * 10; + // } +} +[numthreads(1024, 1, 1)] +void CheckHandJoints(uint3 id : SV_DispatchThreadID) +{ + if (id.x < numParticles) + { + Particle pi = sorted[id.x]; + + for(int i = 0; i < jointsCount; i++) + CheckHandJoint(handJoints[i], pi.pos.xyz, pi.vel.xyz); + + sorted[id.x] = pi; } } \ No newline at end of file diff --git a/Assets/Scripts/Fluid/Solver.cs b/Assets/Scripts/Fluid/Solver.cs index 385e2435..ee1bd75b 100644 --- a/Assets/Scripts/Fluid/Solver.cs +++ b/Assets/Scripts/Fluid/Solver.cs @@ -8,16 +8,17 @@ public class Solver : MonoBehaviour const int numHashes = 1<<20; const int numThreads = 1<<10; // Compute shader dependent value. public int numParticles = 1024; - public float initSize = 10; public float radius = 1; public float gasConstant = 2000; public float restDensity = 10; public float mass = 1; - public float density = 1; + // public float density = 1; public float viscosity = 0.01f; public float gravity = 9.8f; public float deltaTime = 0.001f; + public Vector3 maxSpawns = new Vector3(-10, -10, -10); + public Vector3 minSpawns = new Vector3(10, 10, 10); public Vector3 minBounds = new Vector3(-10, -10, -10); public Vector3 maxBounds = new Vector3(10, 10, 10); @@ -64,6 +65,9 @@ public class Solver : MonoBehaviour private RigidObjSolver rigidObjSolver; + public BreakableWall breakableWall; + public HandFluidInteractor handInteractor; + struct Particle { public Vector4 pos; // with pressure. @@ -76,6 +80,8 @@ struct Particle { private CommandBuffer commandBuffer; private Mesh screenQuadMesh; + public Camera LeapCamera; + Vector4 GetPlaneEq(Vector3 p, Vector3 n) { return new Vector4(n.x, n.y, n.z, -Vector3.Dot(p, n)); } @@ -91,17 +97,25 @@ void UpdateParams() { solverShader.SetVectorArray("planes", boxPlanes); } - + void Start() { + + GameObject LeapProviderEsky = GameObject.Find("LeapMotion"); + if(LeapProviderEsky != null){ + Debug.Log("Setting the hand models"); + LeapCamera = LeapProviderEsky.GetComponent(); + } + + rigidObjSolver = GetComponent(); Particle[] particles = new Particle[numParticles]; for (int i = 0; i < numParticles; i++) { Vector3 pos = new Vector3( - Random.Range(0f, 1f) * initSize + (minBounds.x + maxBounds.x - initSize) * 0.5f, - Random.Range(0f, 1f) * initSize + minBounds.y + 20f, - Random.Range(0f, 1f) * initSize + (minBounds.z + maxBounds.z - initSize) * 0.5f + Random.Range(0f, 1f) * (maxSpawns.x - minSpawns.x) + minSpawns.x, + Random.Range(0f, 1f) * (maxSpawns.y - minSpawns.y) + minSpawns.y, + Random.Range(0f, 1f) * (maxSpawns.z - minSpawns.z) + minSpawns.z ); ; particles[i].pos = pos; } @@ -118,6 +132,7 @@ void Start() { solverShader.SetFloat("gravity", gravity); solverShader.SetFloat("deltaTime", deltaTime); + float poly6 = 315f / (64f * Mathf.PI * Mathf.Pow(radius, 9f)); float spiky = 45f / (Mathf.PI * Mathf.Pow(radius, 6f)); float visco = 45f / (Mathf.PI * Mathf.Pow(radius, 6f)); @@ -154,7 +169,7 @@ void Start() { principleBuffer = new ComputeBuffer(numParticles * 4, 4 * 3); hashRangeBuffer = new ComputeBuffer(numHashes, 4 * 2); - for (int i = 0; i < 13; i++) { + for (int i = 0; i < 17; i++) { solverShader.SetBuffer(i, "hashes", hashesBuffer); solverShader.SetBuffer(i, "globalHashCounter", globalHashCounterBuffer); solverShader.SetBuffer(i, "localIndices", localIndicesBuffer); @@ -225,27 +240,6 @@ void Update() { { UpdateParams(); - if (Input.GetMouseButton(0)) { - Ray mouseRay = Camera.main.ScreenPointToRay(Input.mousePosition); - RaycastHit hit; - if (Physics.Raycast(mouseRay, out hit)) { - Vector3 pos = new Vector3( - Mathf.Clamp(hit.point.x, minBounds.x, maxBounds.x), - maxBounds.y - 1f, - Mathf.Clamp(hit.point.z, minBounds.z, maxBounds.z) - ); - - solverShader.SetInt("moveBeginIndex", moveParticleBeginIndex); - solverShader.SetInt("moveSize", moveParticles); - solverShader.SetVector("movePos", pos); - solverShader.SetVector("moveVel", Vector3.down * 70); - - solverShader.Dispatch(solverShader.FindKernel("MoveParticles"), 1, 1, 1); - - moveParticleBeginIndex = (moveParticleBeginIndex + moveParticles * moveParticles) % numParticles; - } - } - if (Input.GetKeyDown(KeyCode.Space)) { paused = !paused; } @@ -259,28 +253,9 @@ void Update() { renderMat.SetColor("secondaryColor", secondaryColor.linear); renderMat.SetInt("usePositionSmoothing", usePositionSmoothing ? 1 : 0); - double solverStart = Time.realtimeSinceStartupAsDouble; - solverShader.Dispatch(solverShader.FindKernel("ResetCounter"), Mathf.CeilToInt((float)numHashes / numThreads), 1, 1); solverShader.Dispatch(solverShader.FindKernel("InsertToBucket"), Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); - // Debug - if (Input.GetKeyDown(KeyCode.C)) { - uint[] debugResult = new uint[4]; - - hashDebugBuffer.SetData(debugResult); - - solverShader.Dispatch(solverShader.FindKernel("DebugHash"), Mathf.CeilToInt((float)numHashes / numThreads), 1, 1); - - hashDebugBuffer.GetData(debugResult); - - uint usedHashBuckets = debugResult[0]; - uint maxSameHash = debugResult[1]; - - Debug.Log($"Total buckets: {numHashes}, Used buckets: {usedHashBuckets}, Used rate: {(float)usedHashBuckets / numHashes * 100}%"); - Debug.Log($"Avg hash collision: {(float)numParticles / usedHashBuckets}, Max hash collision: {maxSameHash}"); - } - solverShader.Dispatch(solverShader.FindKernel("PrefixSum1"), Mathf.CeilToInt((float)numHashes / numThreads), 1, 1); // @Important: Because of the way prefix sum algorithm implemented, @@ -292,40 +267,16 @@ void Update() { solverShader.Dispatch(solverShader.FindKernel("Sort"), Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); solverShader.Dispatch(solverShader.FindKernel("CalcHashRange"), Mathf.CeilToInt((float)numHashes / numThreads), 1, 1); - // Debug - if (Input.GetKeyDown(KeyCode.C)) { - uint[] debugResult = new uint[4]; - - int[] values = new int[numParticles * 3]; - - hashDebugBuffer.SetData(debugResult); - - solverShader.Dispatch(solverShader.FindKernel("DebugHash"), Mathf.CeilToInt((float)numHashes / numThreads), 1, 1); - - hashDebugBuffer.GetData(debugResult); - - uint totalAccessCount = debugResult[2]; - uint totalNeighborCount = debugResult[3]; - - Debug.Log($"Total access: {totalAccessCount}, Avg access: {(float)totalAccessCount / numParticles}, Avg accept: {(float)totalNeighborCount / numParticles}"); - Debug.Log($"Average accept rate: {(float)totalNeighborCount / totalAccessCount * 100}%"); - - hashValueDebugBuffer.GetData(values); - - HashSet set = new HashSet(); - for (int i = 0; i < numParticles; i++) { - Vector3Int vi = new Vector3Int(values[i*3+0], values[i*3+1], values[i*3+2]); - set.Add(vi); - } - - Debug.Log($"Total unique hash keys: {set.Count}, Ideal bucket load: {(float)set.Count / numHashes * 100}%"); - } - if (!paused) { for (int iter = 0; iter < 1; iter++) { solverShader.Dispatch(solverShader.FindKernel("CalcPressure"), Mathf.CeilToInt((float)numParticles / 128), 1, 1); solverShader.Dispatch(solverShader.FindKernel("CalcForces"), Mathf.CeilToInt((float)numParticles / 128), 1, 1); solverShader.Dispatch(solverShader.FindKernel("CalcPCA"), Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); + + handInteractor?.Solve(Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); + solverShader.Dispatch(solverShader.FindKernel("CheckPlane"), Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); + breakableWall?.Solve(Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); + rigidObjSolver?.Solve(Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); solverShader.Dispatch(solverShader.FindKernel("Step"), Mathf.CeilToInt((float)numParticles / numThreads), 1, 1); } @@ -421,10 +372,22 @@ void UpdateCommandBuffer() { } void LateUpdate() { - Matrix4x4 view = Camera.main.worldToCameraMatrix; - Shader.SetGlobalMatrix("inverseV", view.inverse); - Shader.SetGlobalMatrix("inverseP", Camera.main.projectionMatrix.inverse); + if (LeapCamera) + { + // Matrix4x4 view = LeapCamera.worldToCameraMatrix; + Shader.SetGlobalMatrix("inverseV", LeapCamera.worldToCameraMatrix.inverse); + Shader.SetGlobalMatrix("inverseP", LeapCamera.projectionMatrix.inverse); + + } + else + { + Matrix4x4 view = Camera.main.worldToCameraMatrix; + Shader.SetGlobalMatrix("inverseV", view.inverse); + Shader.SetGlobalMatrix("inverseP", Camera.main.projectionMatrix.inverse); + } + + } void OnDisable() { diff --git a/Assets/StreamingAssets.meta b/Assets/StreamingAssets.meta new file mode 100644 index 00000000..a135cbd7 --- /dev/null +++ b/Assets/StreamingAssets.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9041bbb10cdb48146aecfb60ab181b24 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/StreamingAssets/SteamVR.meta b/Assets/StreamingAssets/SteamVR.meta new file mode 100644 index 00000000..ba28f902 --- /dev/null +++ b/Assets/StreamingAssets/SteamVR.meta @@ -0,0 +1,8 @@ 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