Creating and Attaching a Cloth

// AppWorldLogic.h

#include <UnigineObjects.h>

/* .. */

class AppWorldLogic : public Unigine::WorldLogic {
	
public:
	/* .. */

private:
	Unigine::ObjectMeshDynamicPtr cloth;
	Unigine::ObjectMeshDynamicPtr sphere;
	Unigine::ObjectDummyPtr dummy1;
	Unigine::ObjectDummyPtr dummy2;
	Unigine::PlayerSpectatorPtr player;
};

// AppWorldLogic.cpp
/* .. */

#include "UnigineGame.h"
#include "UniginePrimitives.h"
#include "UnigineObjects.h"

using namespace Unigine;
using namespace Math;

/// function, creating a named sphere with a specified radius and color at pos
ObjectMeshDynamicPtr createSphere(char *name, float radius, const vec4& color, const vec3& pos)
{
	// creating a sphere dynamic mesh
	ObjectMeshDynamicPtr OMD = Primitives::createSphere(radius);

	// setting parameters

	OMD->setMaterialParameterFloat4("albedo_color", color, 0);
	OMD->setWorldTransform(Mat4(translate(pos)));
	OMD->setName(name);

	return OMD;
}

/// function, creating a named dummy body of a specified size at pos
ObjectDummyPtr createBodyDummy(char *name, const vec3& size, const vec3& pos)
{
	// creating a dummy object
	ObjectDummyPtr dummy = ObjectDummy::create();

	// setting parameters
	dummy->setWorldTransform(Mat4(translate(pos)));
	dummy->setName(name);

	//assigning a dummy body to the dummy object and adding a box shape	to it
	BodyDummy::create(dummy);
	dummy->getBody()->addShape(ShapeBox::create(size), translate(0.0f, 0.0f, 0.0f));

	return dummy;
}

/// function, creating a named cloth with specified parameters 
ObjectMeshDynamicPtr createBodyCloth(char *name, float width, float height, float step, float mass, float friction, float restitution, float rigidity, float lrestitution, float arestitution, int num_iterations, const vec4& color, const Mat4& tm)
{
	// creating a dynamic mesh object with a plane surface
	ObjectMeshDynamicPtr OMD = Primitives::createPlane(width, height, step);

	//assigning a cloth body to the dynamic mesh object and setting rope parameters
	BodyClothPtr body = BodyCloth::create(OMD);

	body->setMass(mass);
	body->setFriction(friction);
	body->setRestitution(restitution);
	body->setLinearRestitution(lrestitution);
	body->setAngularRestitution(arestitution);
	body->setRigidity(rigidity);
	body->setNumIterations(num_iterations);

	// setting object's parameters and transformation
	OMD->setWorldTransform(tm);
	OMD->setMaterialParameterFloat4("albedo_color", color, 0);
	OMD->setName(name);

	return OMD;
}

/* .. */

int AppWorldLogic::init() {
		
	player = PlayerSpectator::create();
	
	player->setPosition(Vec3(30.0f, 0.0f, 30.5f));
	player->setDirection(vec3(-1.0f, 0.0f, -0.4f), vec3(0.0f, 0.0f, -1.0f));
	Game::setPlayer(player);

	cloth = createBodyCloth("MyCloth", 20.0f, 20.0f, 1.0f, 10.0f, 0.05f, 0.05f, 0.05f, 0.2f, 0.05f, 8, vec4(0.3f, 0.3f, 1.0f, 1.0f), Mat4(translate(vec3(0.0f, 0.0f, 25.0f))));

	// creating a sphere
	sphere = createSphere("MySphere", 3.0f, vec4(1.0f, 0.1f, 0.1f, 1.0f), vec3(-1.0f, 0.0f, 16.0f));

	// creating 2 dummy bodies to attach the cloth to
	dummy1 = createBodyDummy("fixpoint1", vec3(1.0f, 1.0f, 1.0f), vec3(-10.0f, -10.0f, 25.0f));
	dummy2 = createBodyDummy("fixpoint2", vec3(1.0f, 1.0f, 1.0f), vec3(-10.0f, 10.0f, 25.0f));

	// creating 2 particles joints to attach the cloth to dummy bodies
	JointParticles::create(dummy1->getBody(), cloth->getBody(), dummy1->getPosition(), vec3(1.0f));
	JointParticles::create(dummy2->getBody(), cloth->getBody(), dummy2->getPosition(), vec3(1.0f));

	return 1;
}

/* .. */