Creating and Attaching a Cloth

// AppWorldLogic.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using Unigine;

namespace UnigineApp
{
	class AppWorldLogic : WorldLogic
	{
        ObjectMeshDynamic cloth;
        ObjectMeshDynamic sphere;
        ObjectDummy dummy1;
        ObjectDummy dummy2;
		PlayerSpectator player;
		
        /// method, creating a named sphere with a specified radius and color at pos	
        ObjectMeshDynamic createSphere(String name, float radius, vec4 color, vec3 pos)
        {
	        // creating a sphere dynamic mesh
	        ObjectMeshDynamic OMD = Primitives.CreateSphere(radius);

	        // setting parameters
            OMD.SetMaterial("mesh_base", "*");
	        OMD.SetMaterialParameter("albedo_color", color, 0);
	        OMD.WorldTransform = new dmat4(MathLib.Translate(pos));
	        OMD.Name = name;

        	return OMD;
        }

        /// method, creating a named dummy body of a specified size at pos
        ObjectDummy createBodyDummy(String name, vec3 size, vec3 pos)
        {
	        // creating a dummy object
	        ObjectDummy dummy = new ObjectDummy();

	        // setting parameters
	        dummy.WorldTransform = new dmat4(MathLib.Translate(pos));
	        dummy.Name = name;

	        //assigning a dummy body to the dummy object and adding a box shape	to it
	        new BodyDummy(dummy.getObject());
	        dummy.Body.AddShape(new ShapeBox(size).GetShape(), MathLib.Translate(0.0f, 0.0f, 0.0f));

	        return dummy;
        }

        /// method, creating a named cloth with specified parameters 
        ObjectMeshDynamic createBodyCloth(String name, float width, float height, float step, float mass, float friction, float restitution, float rigidity, float lrestitution, float arestitution, int num_iterations, vec4 color, dmat4 tm)
        {
	        // creating a dynamic mesh object with a plane surface
	        ObjectMeshDynamic OMD = Primitives.CreatePlane(width, height, step);

	        //assigning a cloth body to the dynamic mesh object and setting rope parameters
	        BodyCloth body = new BodyCloth(OMD.GetObject());

	        body.Mass = mass;
	        body.Friction = friction;
	        body.Restitution = restitution;
	        body.LinearRestitution = lrestitution;
	        body.AngularRestitution = arestitution;
	        body.Rigidity = rigidity;
	        body.NumIterations = num_iterations;

	        // setting object's parameters and transformation
	        OMD.WorldTransform = tm;
	        OMD.SetMaterial("mesh_base", "*");
	        OMD.SetMaterialParameter("albedo_color", color, 0);
	        OMD.Name = name;

	        return OMD;
        }

		/* .. */

		public override bool Init()
		{
	
            player = new PlayerSpectator();

	        player.Position = new dvec3(30.0f, 0.0f, 30.5f);
	        player.SetDirection(new vec3(-1.0f, 0.0f, -0.4f), new vec3(0.0f, 0.0f, -1.0f));
	        Engine.game.Player = player.getPlayer();

	        cloth = createBodyCloth("MyCloth", 20.0f, 20.0f, 1.0f, 10.0f, 0.05f, 0.05f, 0.05f, 0.2f, 0.05f, 8, new vec4(0.3f, 0.3f, 1.0f, 1.0f), new dmat4(MathLib.Translate(new vec3(0.0f, 0.0f, 25.0f))));

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

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

	        // creating 2 particles joints to attach the cloth to dummy bodies
	        new JointParticles(dummy1.GetBody(), cloth.GetBody(), dummy1.Position, new vec3(1.0f));
	        new JointParticles(dummy2.GetBody(), cloth.GetBody(), dummy2.Position, new vec3(1.0f));

			return true;
		}

		/* .. */
		
	}
}