├── .gitignore ├── .vscode └── settings.json ├── Assets ├── Materials.meta ├── Materials │ ├── Instancing.mat │ ├── Instancing.mat.meta │ ├── TestMAt.mat │ └── TestMAt.mat.meta ├── ProBuilder Data.meta ├── ProBuilder Data │ ├── Default Material Palette.asset │ └── Default Material Palette.asset.meta ├── Scenes.meta ├── Scenes │ ├── DemoScene.unity │ ├── DemoScene.unity.meta │ ├── MotionCheck.unity │ └── MotionCheck.unity.meta ├── Scripts.meta ├── Scripts │ ├── AutoPingPongMover.cs │ ├── AutoPingPongMover.cs.meta │ ├── AutoRotator.cs │ ├── AutoRotator.cs.meta │ ├── DemoCamera.cs │ ├── DemoCamera.cs.meta │ ├── Rope.cs │ ├── Rope.cs.meta │ ├── VerletIntegration.cs │ ├── VerletIntegration.cs.meta │ ├── VerletIntegrationDemo.cs │ ├── VerletIntegrationDemo.cs.meta │ ├── VerletIntegrationMotionTest.cs │ └── VerletIntegrationMotionTest.cs.meta ├── Shaders.meta └── Shaders │ ├── DoubleSide.shader │ └── DoubleSide.shader.meta ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── MemorySettings.asset ├── NavMeshAreas.asset ├── PackageManagerSettings.asset ├── Packages │ ├── com.unity.probuilder │ │ └── Settings.json │ └── com.unity.testtools.codecoverage │ │ └── Settings.json ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── SceneTemplateSettings.json ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset ├── XRSettings.asset └── boot.config ├── README.md └── UserSettings ├── EditorUserSettings.asset ├── Layouts └── default-2021.dwlt └── Search.settings /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | !/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | .vs/ 24 | 25 | # Gradle cache directory 26 | .gradle/ 27 | 28 | # Autogenerated VS/MD/Consulo solution and project files 29 | ExportedObj/ 30 | .consulo/ 31 | *.csproj 32 | *.unityproj 33 | *.sln 34 | *.suo 35 | *.tmp 36 | *.user 37 | *.userprefs 38 | *.pidb 39 | *.booproj 40 | *.svd 41 | *.pdb 42 | *.mdb 43 | *.opendb 44 | *.VC.db 45 | 46 | # Unity3D generated meta files 47 | *.pidb.meta 48 | *.pdb.meta 49 | *.mdb.meta 50 | 51 | # Unity3D generated file on crash reports 52 | sysinfo.txt 53 | 54 | # Builds 55 | *.apk 56 | *.unitypackage 57 | 58 | # Crashlytics generated file 59 | crashlytics-build.properties 60 | 61 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.exclude": 3 | { 4 | "**/.DS_Store":true, 5 | "**/.git":true, 6 | "**/.gitmodules":true, 7 | "**/*.booproj":true, 8 | "**/*.pidb":true, 9 | "**/*.suo":true, 10 | "**/*.user":true, 11 | "**/*.userprefs":true, 12 | "**/*.unityproj":true, 13 | "**/*.dll":true, 14 | "**/*.exe":true, 15 | "**/*.pdf":true, 16 | "**/*.mid":true, 17 | "**/*.midi":true, 18 | "**/*.wav":true, 19 | "**/*.gif":true, 20 | "**/*.ico":true, 21 | "**/*.jpg":true, 22 | "**/*.jpeg":true, 23 | "**/*.png":true, 24 | "**/*.psd":true, 25 | "**/*.tga":true, 26 | "**/*.tif":true, 27 | 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-------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0dfda6e9132396840a7dadd796e9e3b0 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f22f33d355483bd4190d95dee6c1ca21 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/AutoPingPongMover.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class AutoPingPongMover : MonoBehaviour 6 | { 7 | public Vector3 Movement; 8 | public float PingPongFrequency; 9 | private Vector3 m_originPos; 10 | private Vector3 m_currentPosOffset; 11 | // Start is called before the first frame update 12 | void Start() 13 | { 14 | m_originPos = transform.position; 15 | } 16 | 17 | // Update is called once per frame 18 | void Update() 19 | { 20 | transform.position = m_originPos + Mathf.Sin(Time.time * PingPongFrequency) * Movement; 21 | } 22 | } 23 | -------------------------------------------------------------------------------- /Assets/Scripts/AutoPingPongMover.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b1ee70fdde7688243a4ef1484d8a9bc2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/AutoRotator.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class AutoRotator : MonoBehaviour 6 | { 7 | public Vector3 Rotation; 8 | public bool PingPong; 9 | public float PingPongFrequency; 10 | // Start is called before the first frame update 11 | void Start() 12 | { 13 | 14 | } 15 | 16 | // Update is called once per frame 17 | void Update() 18 | { 19 | transform.Rotate((PingPong ? Mathf.Cos(Time.time * PingPongFrequency) : 1) * Rotation * Time.deltaTime); 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /Assets/Scripts/AutoRotator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 91c9e0b038cbf8a489bc1115fabdb2db 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DemoCamera.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Events; 5 | 6 | public class DemoCamera : MonoBehaviour 7 | { 8 | public UnityEvent OnPostRenderEvent; 9 | // Start is called before the first frame update 10 | void Start() 11 | { 12 | 13 | } 14 | 15 | // Update is called once per frame 16 | void Update() 17 | { 18 | 19 | } 20 | 21 | private void OnPostRender() 22 | { 23 | OnPostRenderEvent?.Invoke(); 24 | } 25 | } 26 | -------------------------------------------------------------------------------- /Assets/Scripts/DemoCamera.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f83f15a627646e247ac63048f011d492 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Rope.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Rope : MonoBehaviour 6 | { 7 | public class Point 8 | { 9 | public bool Pin; 10 | public Vector3 Position; 11 | public Vector3 OldPosition; 12 | } 13 | 14 | public class Stick 15 | { 16 | public Point p0; 17 | public Point p1; 18 | public float Length = 1f; 19 | } 20 | 21 | public float Bounce = 0.9f; 22 | public float Gravity = -0.1f; 23 | [Range(0, 0.1f)] 24 | public float Friction = 0.99f; 25 | public float SprintLenghth = 3f; 26 | public int Iteration = 3; 27 | public float DampSmoothness = 8f; 28 | public float DampSmoothnessK = 0.01f; 29 | public int Density = 10; 30 | private List Sticks; 31 | private List Points; 32 | private Transform[] PointTrans; 33 | public Transform HandleA; 34 | public Transform HandleB; 35 | // Start is called before the first frame update 36 | void Start() 37 | { 38 | Points = new List(); 39 | Sticks = new List(); 40 | SprintLenghth = Vector3.Distance(HandleA.position, HandleB.position) / (float)Density; 41 | for (int i = 0; i < Density; i++) 42 | { 43 | var spawnPosition = Vector3.Lerp(HandleA.position, HandleB.position, (float)(i + 1) / (float)Density); 44 | var p = new Point 45 | { 46 | Position = spawnPosition, 47 | OldPosition = spawnPosition, 48 | Pin = i == 0 || i == Density - 1, 49 | }; 50 | 51 | if (i != 0) 52 | { 53 | Sticks.Add(new Stick 54 | { 55 | p1 = Points[Points.Count - 1], 56 | p0 = p, 57 | Length = SprintLenghth, 58 | }); 59 | } 60 | Points.Add(p); 61 | } 62 | 63 | PointTrans = new Transform[Points.Count]; 64 | for (int i = 0; i < Points.Count; i++) 65 | { 66 | PointTrans[i] = GameObject.CreatePrimitive(PrimitiveType.Sphere).transform; 67 | PointTrans[i].position = Points[i].Position; 68 | PointTrans[i].localScale = Vector3.one * 0.25f; 69 | PointTrans[i].SetParent(transform); 70 | 71 | if (Points[i].Pin) 72 | { 73 | PointTrans[i].SetParent(i == 0 ? HandleA : HandleB); 74 | } 75 | } 76 | } 77 | 78 | private void UpdatePoints() 79 | { 80 | for (int i = 0; i < Points.Count; i++) 81 | { 82 | var p = Points[i]; 83 | var v = (p.Position - p.OldPosition) * (1 - Friction); 84 | p.OldPosition = p.Position; 85 | p.Position += v; 86 | p.Position += new Vector3(0, Gravity, 0) * 0.02f; 87 | p.Position += -DampSmoothness * v * Time.deltaTime; 88 | } 89 | } 90 | 91 | private void ConstraintPoints() 92 | { 93 | for (int i = 0; i < Points.Count; i++) 94 | { 95 | var p = Points[i]; 96 | // var v = (p.Position - p.OldPosition) * Friction; 97 | var cachedP = p.Position; 98 | 99 | if (p.Pin) 100 | { 101 | p.Position = PointTrans[i].position; 102 | p.OldPosition = p.Position; 103 | } 104 | } 105 | } 106 | 107 | private void UpdateSticks() 108 | { 109 | for (int i = 0; i < Sticks.Count; i++) 110 | { 111 | var s = Sticks[i]; 112 | var v1 = (s.p0.Position - s.p0.OldPosition); 113 | var v2 = (s.p1.Position - s.p1.OldPosition); 114 | var relativeV1 = v1 - v2; 115 | var relativeV2 = v2 - v1; 116 | var d = s.p1.Position - s.p0.Position; 117 | var d2 = s.p0.Position - s.p1.Position; 118 | var distance = Vector3.Distance(s.p0.Position, s.p1.Position); 119 | 120 | 121 | var F1 = -DampSmoothnessK * (distance - SprintLenghth) * d2.normalized; 122 | s.p0.Position += (F1); 123 | s.p1.Position -= (F1); 124 | } 125 | } 126 | 127 | void Update() 128 | { 129 | UpdatePoints(); //for 130 | for (int i = 0; i < Iteration; i++) 131 | { 132 | UpdateSticks(); //for 133 | ConstraintPoints(); //for 134 | } 135 | //for 136 | for (int i = 0; i < Points.Count; i++) 137 | { 138 | var p = Points[i]; 139 | PointTrans[i].position = p.Position; 140 | } 141 | } 142 | } 143 | -------------------------------------------------------------------------------- /Assets/Scripts/Rope.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d2af5a9b39a81c14d904e841f6671ce1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegration.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Linq; 3 | 4 | using System.Collections.Generic; 5 | using UnityEngine; 6 | using Unity.Burst; 7 | using Unity.Jobs; 8 | using Unity.Collections; 9 | using UnityEngine.Jobs; 10 | 11 | public class VerletIntegration : MonoBehaviour 12 | { 13 | public struct Point 14 | { 15 | public bool Pin; 16 | public Vector3 Position; 17 | public Vector3 OldPosition; 18 | public Vector3 OriginPosition; 19 | } 20 | 21 | public struct StickConstrain 22 | { 23 | public int Index0; 24 | public int Index1; 25 | public float RestLength; 26 | } 27 | 28 | public int Width = 10; 29 | public int Height = 10; 30 | public float Bounce = 0.9f; 31 | public float Gravity = -9.8f; 32 | public int Iteration = 3; 33 | // public float DampSmoothness = 8f; 34 | [Range(0.1f, 0.8f)] 35 | public float StickDamp = 0.35f; 36 | [Range(-0.5f, 1f)] 37 | public float MaxStretch = 0.1f; 38 | [Range(0f, 1f)] 39 | public float RestoreStretchForce = 0.5f; 40 | [Range(0f, 0.1f)] 41 | public float Friction = 0.99f; 42 | public float CollideDamp = 1f; 43 | public int BatchSize = 1; 44 | public Material mat; 45 | public List Sticks; 46 | public NativeArray m_stickConstrains; 47 | public NativeArray m_points; 48 | public NativeArray m_vertices; 49 | private NativeArray m_iteratetionHandles; 50 | private Vector3[] managedVertices; 51 | public MeshRenderer Mesh; 52 | private List Points; 53 | private Transform[] PointTrans; 54 | public Transform Sphere; 55 | private JobHandle m_updateManagedVerticesHandle; 56 | private JobHandle m_positionHandle; 57 | private JobHandle m_allconstrainHandle; 58 | 59 | void Start() 60 | { 61 | Points = new List(); 62 | Sticks = new List(); 63 | 64 | 65 | var mesh = Mesh.GetComponent().mesh; 66 | var verticesList = new List(); 67 | mesh.GetVertices(verticesList); 68 | var localToWorldMatrix = Mesh.transform.localToWorldMatrix; 69 | var WorldToMatrix = Mesh.transform.worldToLocalMatrix; 70 | for (int i = 0; i < verticesList.Count; i++) 71 | { 72 | var p = new Point 73 | { 74 | Position = Mesh.transform.TransformPoint(verticesList[i]), 75 | OldPosition = Mesh.transform.TransformPoint(verticesList[i]), 76 | OriginPosition = Mesh.transform.TransformPoint(verticesList[i]), 77 | Pin = Mesh.transform.TransformPoint(verticesList[i]).y > 4.5f, 78 | }; 79 | Points.Add(p); 80 | } 81 | managedVertices = verticesList.ToArray(); 82 | var tirangles = mesh.GetTriangles(0); 83 | for (int i = 0; i < tirangles.Length; i += 3) 84 | { 85 | 86 | if (!Sticks.Any(x => (x.Index0 == tirangles[i] && x.Index1 == tirangles[i + 1]) || (x.Index0 == tirangles[i + 1] && x.Index1 == tirangles[i]))) 87 | { 88 | Sticks.Add(new StickConstrain 89 | { 90 | Index0 = tirangles[i], 91 | Index1 = tirangles[i + 1], 92 | RestLength = Vector3.Distance(Points[tirangles[i]].Position, Points[tirangles[i + 1]].Position), 93 | }); 94 | } 95 | if (!Sticks.Any(x => (x.Index0 == tirangles[i + 1] && x.Index1 == tirangles[i + 2]) || (x.Index0 == tirangles[i + 2] && x.Index1 == tirangles[i + 1]))) 96 | { 97 | Sticks.Add(new StickConstrain 98 | { 99 | Index0 = tirangles[i + 1], 100 | Index1 = tirangles[i + 2], 101 | RestLength = Vector3.Distance(Points[tirangles[i + 1]].Position, Points[tirangles[i + 2]].Position), 102 | }); 103 | } 104 | if (!Sticks.Any(x => (x.Index0 == tirangles[i + 2] && x.Index1 == tirangles[i + 0]) || (x.Index0 == tirangles[i + 0] && x.Index1 == tirangles[i + 2]))) 105 | { 106 | Sticks.Add(new StickConstrain 107 | { 108 | Index0 = tirangles[i + 2], 109 | Index1 = tirangles[i + 0], 110 | RestLength = Vector3.Distance(Points[tirangles[i + 2]].Position, Points[tirangles[i + 0]].Position), 111 | }); 112 | } 113 | 114 | 115 | } 116 | 117 | m_points = new NativeArray(Points.Count, Allocator.Persistent); 118 | m_vertices = new NativeArray(Points.Count, Allocator.Persistent); 119 | m_stickConstrains = new NativeArray(Sticks.Count, Allocator.Persistent); 120 | m_stickConstrains.CopyFrom(Sticks.ToArray()); 121 | m_points.CopyFrom(Points.ToArray()); 122 | m_vertices.CopyFrom(verticesList.ToArray()); 123 | 124 | m_iteratetionHandles = new NativeArray(Iteration * 4, Allocator.Persistent); 125 | 126 | } 127 | 128 | [BurstCompile] 129 | private struct UpdatePointsOriginPositionJob : IJobParallelFor 130 | { 131 | [ReadOnly] 132 | public NativeArray Vertices; 133 | public NativeArray Points; 134 | public Matrix4x4 LocalToWorldMatrix; 135 | public void Execute(int index) 136 | { 137 | var p = Points[index]; 138 | if (p.Pin) 139 | p.Position = LocalToWorldMatrix.MultiplyPoint(Vertices[index]); 140 | p.OriginPosition = LocalToWorldMatrix.MultiplyPoint(Vertices[index]); 141 | Points[index] = p; 142 | } 143 | } 144 | 145 | [BurstCompile] 146 | private struct UpdatePositionJob : IJobParallelFor 147 | { 148 | public NativeArray Points; 149 | public float Friction; 150 | public Vector3 Accel; 151 | public float deltaTime; 152 | public float MaxDistDiff; 153 | public void Execute(int index) 154 | { 155 | var p = Points[index]; 156 | var diffScalar = (p.OldPosition - p.Position).normalized; 157 | var v = (p.Position - p.OldPosition) * (1 - Friction); 158 | p.OldPosition = p.Position; 159 | p.Position += v; 160 | p.Position += Accel * deltaTime; 161 | Points[index] = p; 162 | } 163 | } 164 | 165 | 166 | [BurstCompile] 167 | private struct UpdateDistanceConstrainJob : IJob 168 | { 169 | [ReadOnly] 170 | public NativeArray StickConstrains; 171 | public NativeArray Points; 172 | public float StickDamp; 173 | public float deltaTime; 174 | public void Execute() 175 | { 176 | for (int index = 0; index < StickConstrains.Length; index++) 177 | { 178 | var s = StickConstrains[index]; 179 | var p0 = Points[s.Index0]; 180 | var p1 = Points[s.Index1]; 181 | 182 | var d1 = p0.Position - p1.Position; 183 | var d2 = p1.Position - p0.Position; 184 | 185 | var distance = Vector3.Distance(p0.Position, p1.Position); 186 | var F1 = -StickDamp * (distance - s.RestLength) * d2.normalized; 187 | p0.Position -= (F1); 188 | p1.Position += (F1); 189 | Points[s.Index0] = p0; 190 | Points[s.Index1] = p1; 191 | } 192 | } 193 | } 194 | 195 | [BurstCompile] 196 | private struct UpdateClampDistanceConstrainJob : IJob 197 | { 198 | [ReadOnly] 199 | public NativeArray StickConstrains; 200 | public NativeArray Points; 201 | public float StickDamp; 202 | public float deltaTime; 203 | public float MaxStretch; 204 | public float RestoreStretchForce; 205 | public void Execute() 206 | { 207 | for (int index = 0; index < StickConstrains.Length; index++) 208 | { 209 | var s = StickConstrains[index]; 210 | var p0 = Points[s.Index0]; 211 | var p1 = Points[s.Index1]; 212 | 213 | var d1 = p0.Position - p1.Position; 214 | var d2 = p1.Position - p0.Position; 215 | var distance = Vector3.Distance(p0.Position, p1.Position); 216 | 217 | if (distance > s.RestLength * (1 + MaxStretch)) 218 | { 219 | var force = !p0.Pin && !p1.Pin ? RestoreStretchForce : RestoreStretchForce * 2; 220 | if (!p0.Pin) 221 | { 222 | //p0.OldPosition -= d2.normalized * (distance - s.RestLength) * force; 223 | p0.Position += d2.normalized * (distance - s.RestLength) * force; 224 | Points[s.Index0] = p0; 225 | } 226 | if (!p1.Pin) 227 | { 228 | //p1.OldPosition -= d1.normalized * (distance - s.RestLength) * force; 229 | p1.Position += d1.normalized * (distance - s.RestLength) * force; 230 | Points[s.Index1] = p1; 231 | } 232 | } 233 | } 234 | 235 | } 236 | } 237 | 238 | [BurstCompile] 239 | private struct UpdateConstrainJob : IJobParallelFor 240 | { 241 | public NativeArray Points; 242 | public bool UseFlattenMath; 243 | public void Execute(int index) 244 | { 245 | var p = Points[index]; 246 | var cachedP = p.Position; 247 | 248 | if (p.Pin) 249 | { 250 | p.Position = p.OriginPosition; 251 | p.OldPosition = p.OriginPosition; 252 | } 253 | Points[index] = p; 254 | } 255 | } 256 | 257 | [BurstCompile] 258 | private struct UpdateColliderConstrainJob : IJobParallelFor 259 | { 260 | public NativeArray Points; 261 | public float CollideDamp; 262 | public Vector3 SphereCenter; 263 | public float SphereRadius; 264 | public bool UseFlattenMath; 265 | public void Execute(int index) 266 | { 267 | 268 | var p = Points[index]; 269 | var cachedP = p.Position; 270 | 271 | if (Vector3.Distance(p.Position, SphereCenter) <= SphereRadius) 272 | { 273 | var normal = (p.Position - SphereCenter).normalized; 274 | var positionOnSurface = SphereCenter + normal * SphereRadius; 275 | p.Position = cachedP - CollideDamp * Vector3.Distance(cachedP, positionOnSurface) * (cachedP - positionOnSurface).normalized; 276 | p.OldPosition = cachedP + CollideDamp * Vector3.Distance(cachedP, positionOnSurface) * (cachedP - positionOnSurface).normalized; 277 | } 278 | Points[index] = p; 279 | 280 | } 281 | } 282 | 283 | [BurstCompile] 284 | private struct UpdateTransformJob : IJobParallelForTransform 285 | { 286 | [ReadOnly] 287 | public NativeArray Points; 288 | 289 | public void Execute(int index, TransformAccess transform) 290 | { 291 | transform.position = Points[index].Position; 292 | } 293 | } 294 | 295 | [BurstCompile] 296 | private struct UpdateVerticesJob : IJobParallelFor 297 | { 298 | [ReadOnly] 299 | public NativeArray Points; 300 | 301 | [WriteOnly] 302 | public NativeArray Vertices; 303 | public Matrix4x4 WorldToLocalMatrix; 304 | public void Execute(int index) 305 | { 306 | Vertices[index] = WorldToLocalMatrix.MultiplyPoint(Points[index].Position); 307 | } 308 | } 309 | public float MaxDistDiff = 0.5f; 310 | void Update() 311 | { 312 | var updatePointsOriginPositionJob = new UpdatePointsOriginPositionJob 313 | { 314 | Vertices = m_vertices, 315 | Points = m_points, 316 | LocalToWorldMatrix = Mesh.transform.localToWorldMatrix 317 | }; 318 | 319 | var updateOriginHandle = updatePointsOriginPositionJob.Schedule(m_vertices.Length, 1); 320 | 321 | var updatePos = new UpdatePositionJob 322 | { 323 | Points = m_points, 324 | Friction = this.Friction, 325 | Accel = new Vector3(0, Gravity, 0), 326 | deltaTime = 1f / 60f, 327 | MaxDistDiff = MaxDistDiff, 328 | }; 329 | m_positionHandle = updatePos.Schedule(m_points.Length, BatchSize, updateOriginHandle); 330 | 331 | var updateConstrainJob = new UpdateConstrainJob 332 | { 333 | Points = m_points, 334 | }; 335 | 336 | var updateColliderConstrainJob = new UpdateColliderConstrainJob 337 | { 338 | Points = m_points, 339 | CollideDamp = this.CollideDamp, 340 | SphereCenter = Sphere.position, 341 | SphereRadius = Sphere.localScale.x * 0.5f + 1f 342 | }; 343 | var updateDistanceConstrainJob = new UpdateDistanceConstrainJob 344 | { 345 | StickConstrains = m_stickConstrains, 346 | Points = m_points, 347 | StickDamp = this.StickDamp, 348 | deltaTime = 1 / 60f 349 | }; 350 | var updateClampDistanceJob = new UpdateClampDistanceConstrainJob 351 | { 352 | StickConstrains = m_stickConstrains, 353 | Points = m_points, 354 | StickDamp = this.StickDamp, 355 | deltaTime = 1 / 60f, 356 | MaxStretch = MaxStretch, 357 | RestoreStretchForce = RestoreStretchForce, 358 | }; 359 | 360 | var index = 0; 361 | for (int i = 0; i < Iteration; i++) 362 | { 363 | m_iteratetionHandles[index] = updateColliderConstrainJob.Schedule(m_points.Length, BatchSize, i == 0 ? m_positionHandle : m_iteratetionHandles[index - 1]); 364 | index++; 365 | m_iteratetionHandles[index] = updateDistanceConstrainJob.Schedule(m_iteratetionHandles[index - 1]); 366 | index++; 367 | m_iteratetionHandles[index] = updateConstrainJob.Schedule(m_points.Length, BatchSize, m_iteratetionHandles[index - 1]); 368 | index++; 369 | m_iteratetionHandles[index] = updateClampDistanceJob.Schedule(m_iteratetionHandles[index - 1]); 370 | index++; 371 | } 372 | m_allconstrainHandle = m_iteratetionHandles[index - 1]; 373 | 374 | var UpdateVerticesJob = new UpdateVerticesJob 375 | { 376 | Points = m_points, 377 | Vertices = m_vertices, 378 | WorldToLocalMatrix = Mesh.transform.worldToLocalMatrix 379 | }; 380 | m_updateManagedVerticesHandle = UpdateVerticesJob.Schedule(m_vertices.Length, 1, m_allconstrainHandle); 381 | 382 | } 383 | public float moveSpeed = 20f; 384 | 385 | 386 | private void LateUpdate() 387 | { 388 | m_updateManagedVerticesHandle.Complete(); 389 | m_vertices.CopyTo(managedVertices); 390 | Mesh.GetComponent().mesh.SetVertices(managedVertices); 391 | // Mesh.GetComponent().mesh.RecalculateNormals(); 392 | if (Input.GetKey(KeyCode.V)) 393 | { 394 | Mesh.transform.Rotate(new Vector3(0, 0, moveSpeed * 10) * Time.deltaTime); 395 | } 396 | if (Input.GetKey(KeyCode.B)) 397 | { 398 | Mesh.transform.Rotate(new Vector3(0, 0, moveSpeed * -10) * Time.deltaTime); 399 | } 400 | Mesh.transform.position = new Vector3(Mesh.transform.position.x + Input.GetAxisRaw("Horizontal") * Time.deltaTime * moveSpeed, Mesh.transform.position.y, Mesh.transform.position.z + Input.GetAxisRaw("Vertical") * moveSpeed * Time.deltaTime); 401 | } 402 | 403 | private void OnDestroy() 404 | { 405 | m_stickConstrains.Dispose(); 406 | m_points.Dispose(); 407 | m_iteratetionHandles.Dispose(); 408 | m_vertices.Dispose(); 409 | } 410 | public bool DebugDraw; 411 | 412 | public void OnPostRender() 413 | { 414 | if (!DebugDraw) 415 | return; 416 | if (mat == null) 417 | { 418 | Debug.LogError("Please Assign a material on the inspector"); 419 | return; 420 | } 421 | GL.PushMatrix(); 422 | mat.SetPass(0); 423 | 424 | for (int i = 0; i < m_stickConstrains.Length; i++) 425 | { 426 | GL.Begin(GL.LINES); 427 | GL.Color(Color.green); 428 | GL.Vertex(m_points[m_stickConstrains[i].Index0].Position); 429 | GL.Vertex(m_points[m_stickConstrains[i].Index1].Position); 430 | GL.End(); 431 | } 432 | 433 | GL.PopMatrix(); 434 | } 435 | } 436 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegration.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 539e869023283a74d83786ac9f1b74f8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegrationDemo.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Burst; 5 | using Unity.Jobs; 6 | using Unity.Collections; 7 | using UnityEngine.Jobs; 8 | 9 | public class VerletIntegrationDemo : MonoBehaviour 10 | { 11 | public struct Point 12 | { 13 | public bool Pin; 14 | public Vector3 Position; 15 | public Vector3 OldPosition; 16 | public Vector3 OriginPosition; 17 | } 18 | 19 | public struct StickConstrain 20 | { 21 | public int Index0; 22 | public int Index1; 23 | public float RestLength; 24 | } 25 | 26 | public int Width = 10; 27 | public int Height = 10; 28 | public float Gravity = -9.8f; 29 | public float SprintLenghth = 3f; 30 | public int Iteration = 3; 31 | [Range(0.1f, 0.85f)] 32 | public float StickDamp = 0.35f; 33 | [Range(0, 0.1f)] 34 | public float Friction = 0.99f; 35 | public float CollideDamp = 1f; 36 | public Material mat; 37 | public List ManagedSticks; 38 | public NativeArray m_stickConstrains; 39 | public NativeArray m_points; 40 | public NativeArray m_transPositions; 41 | 42 | private List ManagedPoints; 43 | private Transform[] PointTrans; 44 | private TransformAccessArray PointTransformAccessArray; 45 | public Transform Sphere; 46 | private NativeArray handles; 47 | void Start() 48 | { 49 | ManagedPoints = new List(); 50 | ManagedSticks = new List(); 51 | var pivot = transform.position; 52 | for (int i = 0; i < Height; i++) 53 | { 54 | for (int j = 0; j < Width; j++) 55 | { 56 | var p = new Point 57 | { 58 | Position = pivot + new Vector3(j * SprintLenghth, transform.position.y, i * SprintLenghth), 59 | OldPosition = pivot + new Vector3(j * SprintLenghth, transform.position.y, i * SprintLenghth), 60 | OriginPosition = new Vector3(j * SprintLenghth, transform.position.y, i * SprintLenghth), 61 | Pin = i == 0, 62 | }; 63 | ManagedPoints.Add(p); 64 | } 65 | } 66 | for (int i = 0; i < Height; i++) 67 | { 68 | for (int j = 0; j < Width; j++) 69 | { 70 | if (j < Width - 1) 71 | { 72 | ManagedSticks.Add(new StickConstrain 73 | { 74 | Index0 = i * Width + j, 75 | Index1 = i * Width + j + 1, 76 | RestLength = SprintLenghth, 77 | }); 78 | } 79 | 80 | if (i < Height - 1) 81 | { 82 | ManagedSticks.Add(new StickConstrain 83 | { 84 | Index0 = i * Width + j, 85 | Index1 = (i + 1) * Width + j, 86 | RestLength = SprintLenghth, 87 | }); 88 | } 89 | } 90 | } 91 | m_points = new NativeArray(ManagedPoints.Count, Allocator.Persistent); 92 | m_stickConstrains = new NativeArray(ManagedSticks.Count, Allocator.Persistent); 93 | m_points.CopyFrom(ManagedPoints.ToArray()); 94 | m_transPositions = new NativeArray(ManagedPoints.Count, Allocator.Persistent); 95 | m_stickConstrains.CopyFrom(ManagedSticks.ToArray()); 96 | 97 | PointTrans = new Transform[ManagedPoints.Count]; 98 | for (int i = 0; i < ManagedPoints.Count; i++) 99 | { 100 | PointTrans[i] = GameObject.CreatePrimitive(PrimitiveType.Sphere).transform; 101 | PointTrans[i].GetComponent().sharedMaterial = mat; 102 | PointTrans[i].transform.localScale = Vector3.one * 0.25f; 103 | PointTrans[i].position = ManagedPoints[i].Position; 104 | PointTrans[i].SetParent(transform); 105 | Destroy(PointTrans[i].gameObject.GetComponent()); 106 | // PointTrans[i].gameObject.GetComponent().enabled = false; 107 | } 108 | PointTransformAccessArray = new TransformAccessArray(PointTrans); 109 | handles = new NativeArray(Iteration * 2, Allocator.Persistent); 110 | 111 | } 112 | 113 | 114 | [BurstCompile] 115 | private struct CopyTransPositionJob : IJobParallelForTransform 116 | { 117 | public NativeArray TransPositions; 118 | public void Execute(int index, TransformAccess transform) 119 | { 120 | TransPositions[index] = transform.position; 121 | } 122 | } 123 | 124 | [BurstCompile] 125 | private struct UpdatePositionJob : IJobParallelFor 126 | { 127 | public NativeArray Points; 128 | public float Friction; 129 | public Vector3 Accel; 130 | public float deltaTime; 131 | public void Execute(int index) 132 | { 133 | var p = Points[index]; 134 | var v = (p.Position - p.OldPosition) * (1 - Friction); 135 | p.OldPosition = p.Position; 136 | p.Position += v; 137 | p.Position += Accel * deltaTime; 138 | Points[index] = p; 139 | } 140 | } 141 | 142 | [BurstCompile] 143 | private struct HandleAllConstrainJob : IJob 144 | { 145 | public NativeArray Points; 146 | [ReadOnly] 147 | public NativeArray TransPositions; 148 | [ReadOnly] 149 | public NativeArray StickConstrains; 150 | public float StickDamp; 151 | public float CollideDamp; 152 | public Vector3 SphereCenter; 153 | public float SphereRadius; 154 | public int IterateCount; 155 | 156 | public void Execute() 157 | { 158 | for (int k = 0; k < IterateCount; k++) 159 | { 160 | for (int i = 0; i < StickConstrains.Length; i++) 161 | { 162 | var s = StickConstrains[i]; 163 | var p0 = Points[s.Index0]; 164 | var p1 = Points[s.Index1]; 165 | var d = p1.Position - p0.Position; 166 | var distance = Vector3.Distance(p0.Position, p1.Position); 167 | var F1 = -StickDamp * (distance - s.RestLength) * d.normalized; 168 | p0.Position -= (F1); 169 | p1.Position += (F1); 170 | Points[s.Index0] = p0; 171 | Points[s.Index1] = p1; 172 | } 173 | 174 | for (int i = 0; i < Points.Length; i++) 175 | { 176 | var p = Points[i]; 177 | var cachedP = p.Position; 178 | 179 | if (p.Pin) 180 | { 181 | // var cachedOld = p.OldPosition; 182 | p.Position = TransPositions[i]; 183 | p.OldPosition = TransPositions[i]; 184 | } 185 | 186 | //handle collision 187 | if (Vector3.Distance(p.Position, SphereCenter) <= SphereRadius) 188 | { 189 | var normal = (p.Position - SphereCenter).normalized; 190 | var positionOnSurface = SphereCenter + normal * SphereRadius; 191 | p.Position = p.OldPosition; 192 | p.OldPosition = cachedP - CollideDamp * Vector3.Distance(cachedP, positionOnSurface) * (cachedP - positionOnSurface).normalized; 193 | } 194 | Points[i] = p; 195 | } 196 | } 197 | } 198 | } 199 | 200 | [BurstCompile] 201 | private struct UpdateTransformJob : IJobParallelForTransform 202 | { 203 | 204 | public NativeArray Points; 205 | 206 | public void Execute(int index, TransformAccess transform) 207 | { 208 | transform.position = Points[index].Position; 209 | } 210 | } 211 | 212 | private void UpdatePoints() 213 | { 214 | for (int i = 0; i < ManagedPoints.Count; i++) 215 | { 216 | var p = ManagedPoints[i]; 217 | var v = (p.Position - p.OldPosition) * (1 - Friction); 218 | p.OldPosition = p.Position; 219 | p.Position += v; 220 | p.Position += new Vector3(0, Gravity, 0) * 0.02f; 221 | ManagedPoints[i] = p; 222 | } 223 | } 224 | 225 | private void ConstrainPoints() 226 | { 227 | for (int i = 0; i < ManagedPoints.Count; i++) 228 | { 229 | var p = ManagedPoints[i]; 230 | var cachedP = p.Position; 231 | 232 | if (p.Pin) 233 | { 234 | p.Position = PointTrans[i].position; 235 | p.OldPosition = p.Position; 236 | } 237 | 238 | //handle collision 239 | if (Vector3.Distance(p.Position, Sphere.position) <= Sphere.localScale.x * 0.5f + 0.1f) 240 | { 241 | var normal = (p.Position - Sphere.position).normalized; 242 | var positionOnSurface = Sphere.position + normal * (Sphere.localScale.x * 0.5f + 0.1f); 243 | p.Position = p.OldPosition; 244 | p.OldPosition = cachedP - CollideDamp * Vector3.Distance(cachedP, positionOnSurface) * (cachedP - positionOnSurface).normalized; 245 | } 246 | ManagedPoints[i] = p; 247 | } 248 | } 249 | 250 | private void UpdateSticks() 251 | { 252 | for (int i = 0; i < ManagedSticks.Count; i++) 253 | { 254 | var s = ManagedSticks[i]; 255 | var p0 = ManagedPoints[s.Index0]; 256 | var p1 = ManagedPoints[s.Index1]; 257 | 258 | var d1 = p0.Position - p1.Position; 259 | var distance = Vector3.Distance(p0.Position, p1.Position); 260 | var difference = (s.RestLength - distance) / distance; 261 | var F1 = d1 * StickDamp * difference; 262 | p0.Position += (F1); 263 | p1.Position -= (F1); 264 | ManagedPoints[s.Index0] = p0; 265 | ManagedPoints[s.Index1] = p1; 266 | } 267 | } 268 | private JobHandle m_cosntrainJobHanldles; 269 | private JobHandle m_transUpdateHandle; 270 | public bool UseJob = false; 271 | public int BatchSize = 1; 272 | private JobHandle PositionHandle; 273 | private JobHandle AllConsHandle; 274 | private JobHandle lastJobHandle; 275 | void Update() 276 | { 277 | if (UseJob) 278 | { 279 | var copyPositionJob = new CopyTransPositionJob 280 | { 281 | TransPositions = m_transPositions, 282 | }; 283 | var copyPositonHandle = copyPositionJob.Schedule(PointTransformAccessArray); 284 | 285 | var updatePos = new UpdatePositionJob 286 | { 287 | Points = m_points, 288 | Friction = this.Friction, 289 | Accel = new Vector3(0, Gravity, 0), 290 | deltaTime = Time.deltaTime 291 | }; 292 | 293 | PositionHandle = updatePos.Schedule(m_points.Length, BatchSize, copyPositonHandle); 294 | var handleAllConstrainJob = new HandleAllConstrainJob 295 | { 296 | Points = m_points, 297 | TransPositions = m_transPositions, 298 | StickConstrains = m_stickConstrains, 299 | StickDamp = StickDamp, 300 | CollideDamp = CollideDamp, 301 | SphereCenter = Sphere.position, 302 | SphereRadius = Sphere.localScale.x * 0.5f + 0.1f, 303 | IterateCount = Iteration, 304 | }; 305 | AllConsHandle = handleAllConstrainJob.Schedule(PositionHandle); 306 | var updateTrans = new UpdateTransformJob 307 | { 308 | Points = m_points, 309 | }; 310 | m_transUpdateHandle = updateTrans.Schedule(PointTransformAccessArray, AllConsHandle); 311 | 312 | 313 | } 314 | else 315 | { 316 | UpdatePoints(); //for 317 | for (int i = 0; i < Iteration; i++) 318 | { 319 | UpdateSticks(); //for 320 | ConstrainPoints(); //for 321 | } 322 | //for 323 | for (int i = 0; i < ManagedPoints.Count; i++) 324 | { 325 | var p = ManagedPoints[i]; 326 | PointTrans[i].position = p.Position; 327 | } 328 | } 329 | } 330 | 331 | private void LateUpdate() 332 | { 333 | if (UseJob) 334 | { 335 | m_transUpdateHandle.Complete(); 336 | for (int i = 0; i < m_points.Length; i++) 337 | { 338 | var p = m_points[i]; 339 | p.OriginPosition = PointTransformAccessArray[i].position; 340 | m_points[i] = p; 341 | } 342 | } 343 | } 344 | 345 | private void OnDestroy() 346 | { 347 | m_stickConstrains.Dispose(); 348 | m_points.Dispose(); 349 | m_transPositions.Dispose(); 350 | handles.Dispose(); 351 | PointTransformAccessArray.Dispose(); 352 | } 353 | 354 | public void OnPostRender() 355 | { 356 | if (mat == null) 357 | { 358 | Debug.LogError("Please Assign a material on the inspector"); 359 | return; 360 | } 361 | GL.PushMatrix(); 362 | mat.SetPass(0); 363 | if (UseJob) 364 | { 365 | for (int i = 0; i < m_stickConstrains.Length; i++) 366 | { 367 | GL.Begin(GL.LINES); 368 | GL.Color(Color.green); 369 | GL.Vertex(m_points[m_stickConstrains[i].Index0].Position); 370 | GL.Vertex(m_points[m_stickConstrains[i].Index1].Position); 371 | GL.End(); 372 | } 373 | } 374 | else 375 | { 376 | for (int i = 0; i < ManagedSticks.Count; i++) 377 | { 378 | GL.Begin(GL.LINES); 379 | GL.Color(Color.green); 380 | GL.Vertex(ManagedPoints[ManagedSticks[i].Index0].Position); 381 | GL.Vertex(ManagedPoints[ManagedSticks[i].Index1].Position); 382 | GL.End(); 383 | } 384 | } 385 | 386 | 387 | GL.PopMatrix(); 388 | } 389 | } 390 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegrationDemo.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e4ef79aeef613214d96da725ebeef844 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegrationMotionTest.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Burst; 5 | using Unity.Jobs; 6 | using Unity.Collections; 7 | using UnityEngine.Jobs; 8 | 9 | public class VerletIntegrationMotionTest : MonoBehaviour 10 | { 11 | public struct Point 12 | { 13 | public bool Pin; 14 | public Vector3 Position; 15 | public Vector3 OldPosition; 16 | public Vector3 OriginPosition; 17 | } 18 | 19 | 20 | public struct StickConstrain 21 | { 22 | //Point1的index 23 | public int Index0; 24 | //Point2的index 25 | public int Index1; 26 | public float RestLength; 27 | } 28 | 29 | private List ManagedPoints; 30 | public List ManagedSticks; 31 | 32 | private Transform[] PointTrans; 33 | 34 | void Start() 35 | { 36 | PointTrans = new Transform[2]; 37 | ManagedPoints = new List(); 38 | ManagedSticks = new List(); 39 | for (int i = 0; i < 2; i++) 40 | { 41 | ManagedPoints.Add(new Point 42 | 43 | { 44 | Position = Vector3.zero, 45 | OldPosition = new Vector3(0.05f * (i + 2), 0.03f * i + 0.01f, 0) 46 | }); 47 | PointTrans[i] = GameObject.CreatePrimitive(PrimitiveType.Sphere).transform; 48 | } 49 | ManagedSticks.Add(new StickConstrain 50 | { 51 | Index0 = 0, 52 | Index1 = 1, 53 | RestLength = 2f 54 | }); 55 | 56 | } 57 | 58 | private void UpdatePoints() 59 | { 60 | for (int i = 0; i < ManagedPoints.Count; i++) 61 | { 62 | var p = ManagedPoints[i]; 63 | var v = (p.Position - p.OldPosition); 64 | p.OldPosition = p.Position; 65 | p.Position += v; 66 | p.Position += new Vector3(0, -0.5f, 0) * 0.02f; 67 | 68 | //handle collision 69 | if (p.Position.x > 10 || p.Position.x < -10) 70 | { 71 | if (p.Position.x > 0) 72 | { 73 | p.Position.x = 10; 74 | } 75 | else 76 | { 77 | p.Position.x = -10; 78 | } 79 | p.OldPosition.x = p.Position.x + v.x * 1f; 80 | } 81 | if (p.Position.y > 10 || p.Position.y < -10) 82 | { 83 | if (p.Position.y > 0) 84 | { 85 | p.Position.y = 10; 86 | } 87 | else 88 | { 89 | p.Position.y = -10; 90 | } 91 | p.OldPosition.y = p.Position.y + v.y * 1f; 92 | } 93 | ManagedPoints[i] = p; 94 | } 95 | } 96 | 97 | public Transform SphereCollider; 98 | 99 | private void UpdateColliderConstraint() 100 | { 101 | for (int i = 0; i < ManagedPoints.Count; i++) 102 | { 103 | var p = ManagedPoints[i]; 104 | var cachedP = p.Position; 105 | 106 | //handle collision 107 | if (Vector3.Distance(p.Position, SphereCollider.position) <= SphereCollider.localScale.x * 0.5f) 108 | { 109 | var normal = (p.Position - SphereCollider.position).normalized; 110 | var positionOnSurface = SphereCollider.position + normal * (SphereCollider.localScale.x * 0.5f); 111 | p.Position = p.OldPosition; 112 | p.OldPosition = cachedP - 0.5f * Vector3.Distance(cachedP, positionOnSurface) * (cachedP - positionOnSurface).normalized; 113 | } 114 | 115 | ManagedPoints[i] = p; 116 | } 117 | } 118 | 119 | private void UpdateStickConstraint() 120 | { 121 | for (int i = 0; i < ManagedSticks.Count; i++) 122 | { 123 | var s = ManagedSticks[i]; 124 | var p0 = ManagedPoints[s.Index0]; 125 | var p1 = ManagedPoints[s.Index1]; 126 | 127 | var d1 = p0.Position - p1.Position; 128 | var distance = Vector3.Distance(p0.Position, p1.Position); 129 | var difference = (s.RestLength - distance) / distance; 130 | var F1 = d1 * 0.5f * difference; 131 | p0.Position += (F1); 132 | p1.Position -= (F1); 133 | ManagedPoints[s.Index0] = p0; 134 | ManagedPoints[s.Index1] = p1; 135 | } 136 | } 137 | 138 | private void UpdatePinnedConstraint() 139 | { 140 | for (int i = 0; i < ManagedPoints.Count; i++) 141 | { 142 | var p = ManagedPoints[i]; 143 | var cachedP = p.Position; 144 | 145 | if (p.Pin) 146 | { 147 | p.Position = PointTrans[i].position; 148 | p.OldPosition = p.Position; 149 | } 150 | 151 | ManagedPoints[i] = p; 152 | } 153 | } 154 | 155 | void FixedUpdate() 156 | { 157 | UpdatePoints(); //粒子的位移 158 | /* 159 | for (int j = 0; j < ManagedPoints.Count; j++) 160 | { 161 | //Motion Logic 162 | } 163 | */ 164 | for (int i = 0; i < 3; i++) //constraint的結果需要多次計算才能趨於穩定 165 | { 166 | 167 | UpdateStickConstraint(); 168 | /* 169 | for (int j = 0; j < ManagedSticks.Count; j++) 170 | { 171 | //constraint logic 172 | } 173 | */ 174 | 175 | UpdatePinnedConstraint(); 176 | /* 177 | for (int j = 0; j < ManagedPoints.Count; j++) 178 | { 179 | //constraint logic 180 | } 181 | */ 182 | 183 | //UpdateColliderConstraint(); 184 | /* 185 | for (int j = 0; j < ManagedPoints.Count; j++) 186 | { 187 | //constraint logic 188 | }*/ 189 | } 190 | 191 | //for 192 | for (int i = 0; i < ManagedPoints.Count; i++) 193 | { 194 | var p = ManagedPoints[i]; 195 | PointTrans[i].position = p.Position; 196 | } 197 | } 198 | } 199 | -------------------------------------------------------------------------------- /Assets/Scripts/VerletIntegrationMotionTest.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 88597789328dd2b4a98408734d071737 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Shaders.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8b56dc29e08f2ff448ea08756fa6e459 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Shaders/DoubleSide.shader: -------------------------------------------------------------------------------- 1 | Shader "Unlit/DoubleSide" 2 | { 3 | Properties 4 | { 5 | _MainTex ("Texture", 2D) = "white" { } 6 | } 7 | SubShader 8 | { 9 | Tags { "RenderType" = "Opaque" } 10 | LOD 100 11 | Cull Off 12 | Pass 13 | { 14 | CGPROGRAM 15 | 16 | #pragma vertex vert 17 | #pragma fragment frag 18 | // make fog work 19 | #pragma multi_compile_fog 20 | 21 | #include "UnityCG.cginc" 22 | 23 | struct appdata 24 | { 25 | float4 vertex : POSITION; 26 | float2 uv : TEXCOORD0; 27 | }; 28 | 29 | struct v2f 30 | { 31 | float2 uv : TEXCOORD0; 32 | UNITY_FOG_COORDS(1) 33 | float4 vertex : SV_POSITION; 34 | }; 35 | 36 | sampler2D _MainTex; 37 | float4 _MainTex_ST; 38 | 39 | v2f vert(appdata v) 40 | { 41 | v2f o; 42 | o.vertex = UnityObjectToClipPos(v.vertex); 43 | o.uv = TRANSFORM_TEX(v.uv, _MainTex); 44 | UNITY_TRANSFER_FOG(o, o.vertex); 45 | return o; 46 | } 47 | 48 | fixed4 frag(v2f i) : SV_Target 49 | { 50 | // sample the texture 51 | fixed4 col = tex2D(_MainTex, i.uv); 52 | // apply fog 53 | UNITY_APPLY_FOG(i.fogCoord, 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Visible Meta Files 7 | m_CollabEditorSettings: 8 | inProgressEnabled: 1 9 | -------------------------------------------------------------------------------- /ProjectSettings/XRSettings.asset: -------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /ProjectSettings/boot.config: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EricHu33/Verlet-Integration-In-Unity/7ff5fbfb0504918fc5b4da7e40f06b251f03107e/ProjectSettings/boot.config -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Verlet Integration In Unity 2 | 3 | Simple implementation of basic verlet integration. 4 | 5 | Support cloth simulation on Plane mesh and Rope motion. 6 | 7 | Cloth simulation part use job system to boost up performance. 8 | 9 | ![1_xTrWeitA0JtDvSA7gK9I1Q](https://user-images.githubusercontent.com/13420668/188545760-c297c3d6-1f98-49ca-9e8d-e8e7ac703d43.gif) 10 | 11 | Other usage (use it for modding shadergraph) 12 | 13 | ![1_0W7YwicwgqozZr8dOY39Iw](https://user-images.githubusercontent.com/13420668/188546046-23350850-0d7e-40ab-9119-6c1f34868ffc.gif) 14 | -------------------------------------------------------------------------------- /UserSettings/EditorUserSettings.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!162 &1 4 | EditorUserSettings: 5 | m_ObjectHideFlags: 0 6 | serializedVersion: 4 7 | m_ConfigSettings: 8 | RecentlyUsedSceneGuid-0: 9 | value: 0204550250035d0258565c7043200644454e49787a7e76627c7b4a60bab1326f 10 | flags: 0 11 | 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