//CKeyHook _oKeyHook_ThighSpread;
//--------------------------------------------------------------------------- CREATE / DESTROY
public override void OnStart_DefineLimb()
{
_nDrivePos = 0.5f * C_DrivePos; // Weaken the leg pin drive over default
//=== Init Bones and Joints ===
CJointDriver oJointPelvis = _oBody._oActor_Pelvis._oJointExtremity;
_aJoints.Add(_oJointThighBend = CJointDriver.Create(this, oJointPelvis, _sSidePrefixL+"ThighBend", 15, 3.0f, -115, 035, 000, 085, 1)); // X = Leg forward (-115) / back (35), Z = Thigh split (85) / together (20) ###BAD: Super-important thigh split needed same value for thigh together makes no sense! ###IMPROVE: 2nd joint?
_aJoints.Add(_oJointThighTwist = CJointDriver.Create(this, _oJointThighBend, _sSidePrefixL+"ThighTwist", 20, 2.0f, -000, 000, 075, 000, 1)); // Y = Thigh twist -75 to 75 Ok
_aJoints.Add(_oJointShin = CJointDriver.Create(this, _oJointThighTwist, _sSidePrefixL+"Shin", 10, 2.0f, -011, 155, 015, 005, 1)); // X = Knee bent (+155) or backward (-11), Y = Knee rotate -25 to 10 with compromise at 15, Z = Knee side-to-side -5 to 5
_aJoints.Add(_oJointFoot = CJointDriver.Create(this, _oJointShin, _sSidePrefixL+"Foot", 15, 1.0f, -025, 010, 020, 040, 1)); // X = Foot up (-40) and down (+75), inward -25 to +10, twist -35 to 15: ###IMPROVE: FootX not up/down!! ###IMPROVE: 2 joints? ###PROBLEM: Foot up down on Z with poor bending along down
_aJoints.Add(_oJointMetatarsals = CJointDriver.Create(this, _oJointFoot, _sSidePrefixL+"Metatarsals", 20, 0.5f, -000, 000, 020, 012, 1)); // X = Metatarsals left/right = useless, Y = twist -20 to 20, Z = foot bend -12 to 12
_aJoints.Add(_oJointExtremity = CJointDriver.Create(this, _oJointMetatarsals, _sSidePrefixL+"Toe", 20, 3.0f, -000, 000, 020, 050, 1)); // X = Toes bend backward (-45) to forward (65), Y = Toe twist -20/20, Z = meaningless ###IMPROVE: Rotate axe? ###CHECK: Toe mass??
_oJointShin._oConfJoint.targetRotation = Quaternion.Euler(-160, 0, 0); //###WEAK: Set knee default position so it can easily bend (with very week drive) //###SOON: Proper bending of knee calculations from height
//=== Init Hotspot ===
if (_eBodySide == 0) //###IMPROVE: Rediculously long path... switch to 'search for bone' (would not be as fast tho)
_oHotSpot = CHotSpot.CreateHotspot(this, _oBody._oBodyBase.FindBone("chestUpper/chestLower/abdomenUpper/abdomenLower/hip/pelvis/lThighBend/lThighTwist/lShin/lFoot/lMetatarsals/lToe"), "Left Leg", true, new Vector3(0, 0, 0));
else
_oHotSpot = CHotSpot.CreateHotspot(this, _oBody._oBodyBase.FindBone("chestUpper/chestLower/abdomenUpper/abdomenLower/hip/pelvis/rThighBend/rThighTwist/rShin/rFoot/rMetatarsals/rToe"), "Right Leg", true, new Vector3(0, 0, 0));
//=== Init CObject ===
_oObj = new CObject(this, _oBody._oBodyBase._nBodyID, typeof(EActorLeg), "Leg", "Leg" + _sSidePrefixU);
_oObj.PropGroupBegin("", "", true);
AddBaseActorProperties(); // The first properties of every CActor subclass are Pinned, pos & rot
_oObj.PropAdd(EActorLeg.Thigh_Spread, "Thigh-Spread", 0, -100, 100, "");
_oObj.PropAdd(EActorLeg.Thigh_Rotate, "Thigh-Rotate", 0, -100, 100, "");
_oObj.FinishInitialization();
//_oKeyHook_ThighSpread = new CKeyHook(_oObj.PropFind(EActorLeg.Thigh_Spread), KeyCode.F, EKeyHookType.QuickMouseEdit, "Thigh Spread", -1);
}
//--------------------------------------------------------------------------- CREATE / DESTROY
public override void OnStart_DefineLimb()
{
//=== Init Bones and Joints ===
_aJoints.Add(_oJointExtremity = CJointDriver.Create(this, null, "chestUpper", 15, 8, -000, 000, 000, 000, 1)); //### The body's root bone... is kinematic and has no joint to a parent bone so all zeros
_aJoints.Add(_oJointChestLower = CJointDriver.Create(this, _oJointExtremity, "chestLower", 15, 8, -015, 015, 010, 010, 1));
_aJoints.Add(_oJointAbdomenUpper = CJointDriver.Create(this, _oJointChestLower, "abdomenUpper", 15, 6, -035, 025, 012, 020, 1));
_aJoints.Add(_oJointAbdomenLower = CJointDriver.Create(this, _oJointAbdomenUpper, "abdomenLower", 15, 6, -040, 025, 024, 020, 1));
_aJoints.Add(_oJointHip = CJointDriver.Create(this, _oJointAbdomenLower, "hip", 15, 6, -035, 020, 015, 015, 1));
//###NOTE: Pelvis bone is in CActorPelvis for extra processing there.
//###CHECK: Keep? _oJointExtremity._oRigidBody.isKinematic = (CGame.INSTANCE._GameMode == EGameModes.Configure); //###HACK ###TEMP ####REVA If play no anim just set everything to kinematic... for temp cloth exploration
//###OBS? _oJointExtremity._oRigidBody.isKinematic = false; // We need to disable kinematic on bone as we're driving it with our pin!
//=== Init Hotspot ===
_oHotSpot = CHotSpot.CreateHotspot(this, transform, "Chest", true, new Vector3(0, 0, 0), C_SizeHotSpot_BodyNodes);
//_oHotSpot = CHotSpot.CreateHotspot(this, _oBody.FindBone("chestUpper"), "Chest", true, new Vector3(0, 0, 0), C_SizeHotSpot_TorsoNodes);
//=== Init CObject ===
_oObj = new CObject(this, _oBody._oBodyBase._nBodyID, typeof(EActorChest), "Chest", "Chest");
_oObj.PropGroupBegin("", "", true);
AddBaseActorProperties(); // The first properties of every CActor subclass are Pinned, pos & rot
_oObj.PropAdd(EActorChest.Torso_LeftRight, "Torso_LeftRight", 0, -100, 100, ""); //###BUG: Have to recalibrate to make new abdoment-centric bones look good.
_oObj.PropAdd(EActorChest.Torso_UpDown, "Torso_UpDown", 0, -100, 100, ""); //###NOW###: Forced to enter crappy name because of new CProp restrictions with naming!
_oObj.PropAdd(EActorChest.Torso_Twist, "Torso_Twist", 0, -100, 100, "");
_oObj.FinishInitialization();
//###PROBLEM: Base actor adds 'pinned' but chest is always pinned?
//###CHECK??
_oObj.PropSet(EActorChest.Pinned, 1); // Manually set pinned to 1 on torso so body doesn't float in space when no pose is loaded (Weak that we can't set in PropAdd() due to init-time problems)
if (CGame.INSTANCE.EnableIdlePoseMovement)
StartCoroutine(Coroutine_ChangeRandomPose()); //###CHECK: When destroyed OK??
}
Vector3 _vecStartingPos; // Pose and rotation stored so we can return to 'configure' game mode at any time
#endregion Fields
#region Methods
public static CJointDriver Create(CActor oActor, CJointDriver oJointDrvParent, string sNameBone, float nDriveStrengthMult, float nMass, float XL, float XH, float YHL, float ZHL, int nFinalized=0)
{
Transform oTransform;
if (oJointDrvParent == null)
oTransform = CUtility.FindChild(oActor._oBody._oBodyBase._oBonesT, sNameBone); // Finding bone when root is different. ###IMPROVE: Can be simplified to just always top bone? (e.g. Why does 'Bones' have a single top bone 'chestUpper' when the could be merged?)
else
oTransform = CUtility.FindChild(oJointDrvParent.transform, sNameBone);
if (oTransform == null)
CUtility.ThrowException("CJointDriver.Create() cannot find bone " + sNameBone);
CJointDriver oJointDriver = CUtility.FindOrCreateComponent(oTransform.gameObject, typeof(CJointDriver)) as CJointDriver;
oJointDriver.Initialize(oActor, oJointDrvParent, nDriveStrengthMult, nMass, XL, XH, YHL, ZHL, nFinalized!=0);
return oJointDriver;
}
//--------------------------------------------------------------------------- CREATE / DESTROY
public override void OnStart_DefineLimb()
{
_nDrivePos = 0.1f * C_DrivePos; // Weaken the hand drive so hand doesn't fly from pin to pin //###TUNE
//_memVecRayHitInfo = new CMemAlloc<Vector3>(2);
//=== Init Bones and Joints ===
CJointDriver oJointChestUpper = _oBody._oActor_Chest._oJointExtremity;
_aJoints.Add(_oJointCollar = CJointDriver.Create(this, oJointChestUpper, _sSidePrefixL+"Collar", 30, 2.5f, -010, 050, 030, 021, 1)); // X = Collar Up/Down OK, Z has 17 back and 25 forward (avg looks ok)
_aJoints.Add(_oJointShoulderBend = CJointDriver.Create(this, _oJointCollar, _sSidePrefixL+"ShldrBend", 15, 2.0f, -085, 035, 000, 110, 1)); // X = Shoulder Up/Down OK, Z = Back goes to -40, Forward to 110!!! (###IMPROVE: Another joint?)
_aJoints.Add(_oJointShoulderTwist = CJointDriver.Create(this, _oJointShoulderBend, _sSidePrefixL+"ShldrTwist", 20, 1.5f, -000, 000, 080, 000, 1)); // Y = Shoulder twist goes from -95 to 80 so max. ###PROBLEM: Shimmer in high rotation!
_aJoints.Add(_oJointForearmBend = CJointDriver.Create(this, _oJointShoulderTwist, _sSidePrefixL+"ForearmBend", 10, 1.5f, -020, 135, 000, 000, 1)); // X = Elbow bend from -20 to 135. ok.
_aJoints.Add(_oJointForearmTwist = CJointDriver.Create(this, _oJointForearmBend, _sSidePrefixL+"ForearmTwist", 20, 1.0f, -000, 000, 080, 000, 1)); // Y = Forearm twist from -90 to 80 so max. ###IMPROVE: Could rotate the axes on the twists so we use XL/XH
_aJoints.Add(_oJointExtremity = CJointDriver.Create(this, _oJointForearmTwist, _sSidePrefixL+"Hand", 10, 0.5f, -070, 080, 010, 029, 1)); // X = Hand -down(-70) / +up (+80), Y = Hand twist +/-10, Z = Hand side-to-side -28 to +30
//ConfigFingerRoot(1, "Index"); // Thumb is handled below ###DESIGN!!! Fingers in Unity PhysX is just a no-go because of extremely poor latency... what to do?????
//ConfigFingerRoot(2, "Mid");
//ConfigFingerRoot(3, "Ring"); //??? ###HACK!! Disabled man's carpal1&2 in 3dsMax so we can use same code as women's!
//ConfigFingerRoot(4, "Pinky");
//CJointDriver oJointFingerBoneParent = _oJointExtremity;
//oJointFingerBoneParent = ConfigFingerBone(oJointFingerBoneParent, 0, 0, "Thumb", 005f, -030f, 005f, 025f);
//oJointFingerBoneParent = ConfigFingerBone(oJointFingerBoneParent, 0, 1, "Thumb", 010f, -015f, 000f, 000f);
//oJointFingerBoneParent = ConfigFingerBone(oJointFingerBoneParent, 0, 2, "Thumb", 010f, -015f, 000f, 000f);
//=== Init Hotspot ===
if (_eBodySide == 0)
_oHotSpot = CHotSpot.CreateHotspot(this, _oBody._oBodyBase.FindBone("chestUpper/lCollar/lShldrBend/lShldrTwist/lForearmBend/lForearmTwist/lHand"), "Left Hand", true, new Vector3(0, 0, 0));
else
_oHotSpot = CHotSpot.CreateHotspot(this, _oBody._oBodyBase.FindBone("chestUpper/rCollar/rShldrBend/rShldrTwist/rForearmBend/rForearmTwist/rHand"), "Right Hand", true, new Vector3(0, 0, 0));
//=== Init CObject ===
_oObj = new CObject(this, _oBody._oBodyBase._nBodyID, typeof(EActorArm), "Arm", "Arm" + _sSidePrefixU);
_oObj.PropGroupBegin("", "", true);
AddBaseActorProperties(); // The first properties of every CActor subclass are Pinned, pos & rot
//_oObj.PropAdd(EActorArm.HandTarget, "HandTarget", typeof(EHandTargets), (int)EHandTargets.ManualPosition, "");
_oObj.PropAdd(EActorArm.Hand_UpDown, "Hand-UpDown", 0, -100, 100, "");
_oObj.PropAdd(EActorArm.Hand_LeftRight, "Hand-LeftRight", 0, -100, 100, "");
_oObj.PropAdd(EActorArm.Hand_Twist, "Hand-Twist", 0, -100, 100, "");
//_oObj.PropAdd(EActorArm.Fingers_Close, "Fingers-Close", 0, -100, 100, "", CProp.Hide); //###BROKEN
//_oObj.PropAdd(EActorArm.Fingers_Spread, "Fingers-Spread", 0, -100, 100, "", CProp.Hide);
//_oObj.PropAdd(EActorArm.Fingers_ThumbPose, "Fingers-ThumbPose", typeof(EThumbPose), (int)EThumbPose.AlongsideFingers, "", CProp.Hide);
//_oObj.PropAdd(EActorArm.UserControl, "User Control", 0, 0, 1, "");
_oObj.FinishInitialization();
_oHandTarget_RaycastPin = CActorArm.FindHandTarget(_oBody, EHandTargets.RaycastPin, _eBodySide == EBodySide.Right); // Find the raycast pin hand target as we use it heavily and it is reparented
}
public void Initialize(CActor oActor, CJointDriver oJointDrvParent, float nDriveStrengthMult, float nMass, float XL, float XH, float YHL, float ZHL, bool bFinalized)
{
_oActor = oActor;
_oJointDrvParent = oJointDrvParent;
_nDriveStrengthMult = nDriveStrengthMult;
_vecStartingPos = transform.localPosition;
_quatStartingRotation = transform.localRotation;
if (CGame.INSTANCE.BoneDebugMode && bFinalized == false) { // Set debug limits if in debug mode (so we can fully rotate along all axis for game-time tuning) unless bone is 'finalized' in which do apply the supplied limits
_XH = _YHL = _ZHL = 177f; // Set limit angles to maximum value in bone debug mode (so runtime bone debugger can move all bones and all axis all the way)
_XL = -_XH;
} else {
_XL = XL;
_XH = XH;
_YHL = YHL;
_ZHL = ZHL;
}
//=== Create the rigid body for our bone ===
_oRigidBody = (Rigidbody)CUtility.FindOrCreateComponent(gameObject, typeof(Rigidbody)); //###TODO: Add a "CRigidBodyWake"???
_oRigidBody.mass = nMass;
_oRigidBody.drag = 1.5f; //###TODO!! //###DESIGN: Which drag?? //###TUNE!!!!! ###IMPROVE: Different settings for arms & legs???
_oRigidBody.angularDrag = 1.5f; //###TUNE!!!!
_oRigidBody.sleepThreshold = 0; // Ensure the rigid body never sleeps!
//=== Process special handling needed when we are root (we are kinematic and we have no joint to parent) ===
if (_oJointDrvParent == null) { // If we have a null parent then we're the root and we're kinematic with no joint to anyone!
_oRigidBody.isKinematic = true;
}
else {
//=== If we have a parent then we are not kinematic and rotate by PhysX simulation ===
_oRigidBody.isKinematic = false;
//=== Create the D6 configurable joint between our parent and us ===
_oConfJoint = (ConfigurableJoint)CUtility.FindOrCreateComponent(gameObject, typeof(ConfigurableJoint)); //###TODO: Add a "CRigidBodyWake"???
_oConfJoint.connectedBody = _oJointDrvParent._oRigidBody;
//=== Set the joint limits as per our arguments ===
bool bInvertX = (_XL > _XH); //###OBS??? If the logical range is inverted we can't send this to PhysX as lowAngularXLimit MUST be < than highAngularXLimit!
if (bInvertX)
CUtility.ThrowException("Inverted XL / XH in bone " + gameObject.name); //###CHECK
SoftJointLimit oJL = new SoftJointLimit(); //###IMPROVE: Has other fields that could be of use?
oJL.limit = bInvertX ? _XH : _XL; _oConfJoint. lowAngularXLimit = oJL; // X is the high-functionality axis with separately-defined Xmin and Xmax... Y and Z only have a +/- range around zero, so we are forced to raise the lower half to match the other side
oJL.limit = bInvertX ? _XL : _XH; _oConfJoint.highAngularXLimit = oJL;
oJL.limit = _YHL; _oConfJoint. angularYLimit = oJL; //###NOTE! Hugely inconvenient feature of D6 joint is Y & Z must be symmetrical!! Make sure bone is oriented so X is used for the assymetrical rotation!!
oJL.limit = _ZHL; _oConfJoint. angularZLimit = oJL;
//=== Set joint axis defaults (before overriding some of them) ===
_oConfJoint.xMotion = _oConfJoint.yMotion = _oConfJoint.zMotion = ConfigurableJointMotion.Locked;
_oConfJoint.angularXMotion = _oConfJoint.angularYMotion = _oConfJoint.angularZMotion = ConfigurableJointMotion.Limited; //###DESIGN? Limited vs Free?
//=== Free the axis that don't need driving === ###CHECK: Safe???
if (_XL == 0f && _XH == 0f) _oConfJoint.angularXMotion = ConfigurableJointMotion.Free; // If an axis is unused set it //free to reduce PhysX workload ###CHECK: Is this ever invoked? Does it make joint fail if not all three axis driven??
if (_YHL == 0f) _oConfJoint.angularYMotion = ConfigurableJointMotion.Free; //###DESIGN: Verify unsetting!
if (_ZHL == 0f) _oConfJoint.angularZMotion = ConfigurableJointMotion.Free; //###NOTE: SLERP needs all three axis by definition... But Limited of little / no use if we drive all the time (less PhysX overhead))
//=== Set the configurable joint drive strength ===
JointDrive oDrive = new JointDrive();
oDrive.positionSpring = _nDriveStrengthMult * CGame.INSTANCE.BoneDriveStrength; // Final spring strength is the global constant multiplied by the provided multiplier... makes it easy to adjust whole-body drive strength
oDrive.positionDamper = 0; //###TODO!!!!! ###TUNE?
oDrive.maximumForce = float.MaxValue; //###IMPROVE: Some reasonable force to prevent explosions??
//oDrive.mode = JointDriveMode.Position;
_oConfJoint.slerpDrive = oDrive;
_oConfJoint.rotationDriveMode = RotationDriveMode.Slerp; // Slerp is really the only useful option for bone driving. (Many other features of D6 joint!!!)
//=== If we're a node on the right side, copy the collider defined on our twin node on the left side ===
if (_oActor._eBodySide == EBodySide.Right) {
Transform oNodeSrc = CUtility.FindSymmetricalBodyNode(transform.gameObject);
//Debug.Log("Collider copy " + oNodeSrc.name);
Collider oColBaseSrc = oNodeSrc.GetComponent<Collider>();
if (oColBaseSrc.GetType() == typeof(CapsuleCollider)) {
CapsuleCollider oColSrc = (CapsuleCollider)oColBaseSrc;
CapsuleCollider oColDst = (CapsuleCollider)CUtility.FindOrCreateComponent(transform, typeof(CapsuleCollider));
oColDst.center = oColSrc.center;
oColDst.radius = oColSrc.radius;
oColDst.height = oColSrc.height;
oColDst.direction = oColSrc.direction;
} else if (oColBaseSrc.GetType() == typeof(BoxCollider)) {
BoxCollider oColSrc = (BoxCollider)oColBaseSrc;
BoxCollider oColDst = (BoxCollider)CUtility.FindOrCreateComponent(transform, typeof(BoxCollider));
oColDst.center = oColSrc.center;
oColDst.size = oColSrc.size;
}
}
}
}
