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Add spring node gravity and simple collision #14

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Add spring node gravity and simple collision #14

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13 changes: 12 additions & 1 deletion src/mgear_solvers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -533,11 +533,22 @@ class mgear_springNode : public MPxNode
static MObject aGoalY;
static MObject aGoalZ;
static MObject aDamping;
static MObject aGravity;
static MObject aStiffness;
static MObject aTime;
static MObject aCollider;
static MObject aColliderX;
static MObject aColliderY;
static MObject aColliderZ;
static MObject aColliderRadius;
static MObject aColliderSoftness;
static MObject aColliderList;
//static MObject aParentInverse;
static MObject aSpringIntensity;
static MObject aSpringActive;

static MObject aUseGroundPlane;
static MObject aGroundPlaneHeight;
////variables

bool _initialized;
Expand Down Expand Up @@ -713,4 +724,4 @@ MTransformationMatrix mapObjectPoseToWorldSpace(MTransformationMatrix objectSpac
MTransformationMatrix interpolateTransform(MTransformationMatrix xf1, MTransformationMatrix xf2, double blend);


#endif
#endif
124 changes: 119 additions & 5 deletions src/springNode.cpp
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Expand Up @@ -32,6 +32,9 @@ Date: 2016 / 10 / 10
// INCLUDE
/////////////////////////////////////////////////
#include "mgear_solvers.h"
#include <maya/MFnCompoundAttribute.h>
#include <maya/MArrayDataHandle.h>
#include <maya/MArrayDataBuilder.h>

/////////////////////////////////////////////////
// GLOBAL
Expand All @@ -49,8 +52,22 @@ MObject mgear_springNode::aGoalZ;
MObject mgear_springNode::aDamping;
MObject mgear_springNode::aStiffness;
MObject mgear_springNode::aTime;

MObject mgear_springNode::aGravity;

MObject mgear_springNode::aCollider;
MObject mgear_springNode::aColliderX;
MObject mgear_springNode::aColliderY;
MObject mgear_springNode::aColliderZ;
MObject mgear_springNode::aColliderRadius;
MObject mgear_springNode::aColliderList;
MObject mgear_springNode::aColliderSoftness;
MObject mgear_springNode::aUseGroundPlane;
MObject mgear_springNode::aGroundPlaneHeight;

//MObject mgear_springNode::aParentInverse;
MObject mgear_springNode::aSpringIntensity;
MObject mgear_springNode::aSpringActive;


mgear_springNode::mgear_springNode(){}
Expand All @@ -75,6 +92,8 @@ MStatus mgear_springNode::initialize()
MFnNumericAttribute nAttr;
MFnUnitAttribute uAttr;
MFnMatrixAttribute mAttr;
MFnCompoundAttribute cmpAttr;


aOutput = nAttr.createPoint("output", "out"); // initializing attribute
nAttr.setWritable(false);
Expand Down Expand Up @@ -116,6 +135,68 @@ MStatus mgear_springNode::initialize()
addAttribute(aSpringIntensity);
attributeAffects(aSpringIntensity, aOutput);

aSpringActive = nAttr.create("active", "active", MFnNumericData::kFloat, 1.0f);
nAttr.setKeyable(true);
nAttr.setMin(0.0f);
nAttr.setMax(1.0f);
addAttribute(aSpringActive);
attributeAffects(aSpringActive, aOutput);

aGravity = nAttr.create("gravity", "gravity", MFnNumericData::kFloat, 0.0f);
nAttr.setKeyable(true);
nAttr.setMin(-1000.0f);
nAttr.setMax(1000.0f);
addAttribute(aGravity);
attributeAffects(aGravity, aOutput);

aColliderSoftness = nAttr.create("collide_softness", "collide_softness", MFnNumericData::kFloat, 0.5f);
nAttr.setKeyable(true);
nAttr.setMin(0.0f);
nAttr.setMax(1.0f);
addAttribute(aColliderSoftness);
attributeAffects(aColliderSoftness, aOutput);

aUseGroundPlane = nAttr.create("use_ground", "use_ground", MFnNumericData::kBoolean, 0);
nAttr.setKeyable(true);
addAttribute(aUseGroundPlane);
attributeAffects(aUseGroundPlane, aOutput);

aGroundPlaneHeight = nAttr.create("ground_height", "ground_height", MFnNumericData::kFloat, 0.0f);
nAttr.setKeyable(true);
addAttribute(aGroundPlaneHeight);
attributeAffects(aGroundPlaneHeight, aOutput);


aCollider = nAttr.createPoint("collider", "collider");
aColliderX = nAttr.child(0);
aColliderY = nAttr.child(1);
aColliderZ = nAttr.child(2);
nAttr.setKeyable(true);
McheckErr(nAttr.setDisconnectBehavior(MFnAttribute::kDelete), "setDisconnectBehavior");
addAttribute(aCollider);
attributeAffects(aCollider, aOutput);


aColliderRadius = nAttr.create("collide_radius", "collide_radius", MFnNumericData::kFloat, 0.0f);
nAttr.setKeyable(true);
nAttr.setMin(-1000.0f);
nAttr.setMax(1000.0f);
McheckErr(nAttr.setDisconnectBehavior(MFnAttribute::kDelete), "setDisconnectBehavior");
addAttribute(aColliderRadius);
attributeAffects(aColliderRadius, aOutput);


aColliderList = cmpAttr.create("colliders_list", "colliders_list", &status);
cmpAttr.setArray(true);
cmpAttr.setKeyable(true);
McheckErr(cmpAttr.addChild(aCollider), "compoundAttr.addChild");
McheckErr(cmpAttr.addChild(aColliderRadius), "compoundAttr.addChild");
McheckErr(cmpAttr.setDisconnectBehavior(MFnAttribute::kDelete), "setDisconnectBehavior");
McheckErr(addAttribute(aColliderList), "addAttribute");
McheckErr(attributeAffects(aColliderList, aOutput), "attributeAffects");



/*aParentInverse = mAttr.create("parentInverse", "parentInverse");
mAttr.setStorable(true);
mAttr.setKeyable(true);
Expand Down Expand Up @@ -144,21 +225,20 @@ MStatus mgear_springNode::compute(const MPlug& plug, MDataBlock& data)
// getting inputs attributes
float damping = data.inputValue(aDamping, &status).asFloat();
float stiffness = data.inputValue(aStiffness, &status).asFloat();
float gravity = data.inputValue(aGravity, &status).asFloat();

//MVector goal = data.inputValue(aGoal, &status).asVector();
MDataHandle h;
MVector goal;
h = data.inputValue(aGoal, &status);
McheckStatusAndReturnIt(status);
goal = h.asFloatVector();
// float aGoalX = goal.x;
// float aGoalY = goal.y;
// float aGoalZ = goal.z;


MTime currentTime = data.inputValue(aTime, &status).asTime();
//MMatrix parentInverse = data.inputValue(aParentInverse, &status).asMatrix();
float springIntensity = data.inputValue(aSpringIntensity, &status).asFloat();
float springActive = data.inputValue(aSpringActive, &status).asFloat();


if (_initialized == false) {
Expand All @@ -185,16 +265,50 @@ MStatus mgear_springNode::compute(const MPlug& plug, MDataBlock& data)
MFloatVector velocity = (_currentPosition - _previousPosition) * (1.0 - damping);
MVector newPosition = _currentPosition + velocity;
MFloatVector goalForce = (goal - newPosition) * stiffness;
goalForce.y += gravity;
newPosition += goalForce;



// Apply collision
float colliderStrength = 1.0 - data.inputValue(aColliderSoftness, &status).asFloat();
MVector colliderPos;
MVector distFromCollider;
float colliderRadius;
float collideAmount;
MArrayDataHandle arrayHandle = data.inputArrayValue(aColliderList, &status);
McheckErr(status, "arrayHandle construction for aColliderList failed\n");
unsigned count = arrayHandle.elementCount();
for( int i = 0; i < count; i++) {
arrayHandle.jumpToArrayElement(i);
h = arrayHandle.inputValue(&status);
McheckErr(status, "handle evaluation failed\n");
colliderPos = h.child(aCollider).asFloatVector();
colliderRadius = h.child(aColliderRadius).asFloat();
distFromCollider = newPosition - colliderPos;
collideAmount = (colliderRadius - distFromCollider.length()) / distFromCollider.length() * colliderStrength;
collideAmount = collideAmount > 0 ? collideAmount : 0; // Only push outward
newPosition += collideAmount * distFromCollider; // Move radially
}


bool useGroundPlane = data.inputValue(aUseGroundPlane, &status).asBool();
float groundPlaneHeight = data.inputValue(aGroundPlaneHeight, &status).asFloat();

float distFromGround = (newPosition[1] - groundPlaneHeight);
float collideAmount = -1.0f * distFromGround * colliderStrength;
collideAmount = collideAmount > 0 ? collideAmount : 0;
newPosition[1] += ((float)useGroundPlane) * collideAmount;


// store the states for the next calculation
_previousPosition = _currentPosition;
_currentPosition = newPosition;
_previousTime = currentTime;

//multipply the position by the spring intensity
//calculamos depues de los states, para no afectarlos
newPosition = goal + ((newPosition - goal) * springIntensity);
newPosition = goal + (((newPosition - goal) * springIntensity) * springActive);

//Setting the output in local space
// esto lo hacemos depues de hacer el store de los states
Expand All @@ -210,4 +324,4 @@ MStatus mgear_springNode::compute(const MPlug& plug, MDataBlock& data)

return MS::kSuccess;

}
}