public void setTarget(Posture posture, ulong mask = (ulong)PartsBit.Whole)
{
// pass 1
foreach (var node_data in posture.getNodeDataList())
{
var node_idx = node_data.node_idx_;
if (node_idx != (int)Parts.Root &&
(1UL << node_idx & mask) != 0)
{
var node = node_list_[node_idx];
node.setBaseRotation(node_data);
}
}
// pass 2
foreach (var node_data in posture.getNodeDataList())
{
var node_idx = node_data.node_idx_;
if (node_idx != (int)Parts.Root &&
(1UL << node_idx & mask) != 0)
{
var node = node_list_[node_idx];
node.setTarget(node_data);
}
}
}
IEnumerator Start()
{
yield return(FileUtil.preparePath("apose.dat"));
posture_apose_ = JsonUtility.FromJson <Posture>(FileUtil.content);
yield return(FileUtil.preparePath("pre_throw_l_arm.dat"));
posture_pre_throw_l_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
yield return(FileUtil.preparePath("pre_throw_r_arm.dat"));
posture_pre_throw_r_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
yield return(FileUtil.preparePath("throw_l_arm.dat"));
posture_throw_l_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
yield return(FileUtil.preparePath("throw_r_arm.dat"));
posture_throw_r_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
yield return(FileUtil.preparePath("pre_jump.dat"));
posture_pre_jump_ = JsonUtility.FromJson <Posture>(FileUtil.content);
muscle_motion_ = new MuscleMotion();
muscle_motion_.init(posture_apose_, 80f /* damper */, 1500f /* spring */);
set_params_body(body_damper_, body_spring_);
set_params_arm(arm_damper_, arm_spring_);
set_params_leg(leg_damper_, leg_spring_);
{ /* tales */
float damper = 4f;
float spring_ratio = 40f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale3, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale4, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale3, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale4, damper, spring_ratio);
}
{ /* ribbons */
float damper = 2f;
float spring_ratio = 100f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Ribbon1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Ribbon2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Ribbon1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Ribbon2, damper, spring_ratio);
}
{ /* suso */
float damper = 10f;
float spring_ratio = 200f;
muscle_motion_.setParams(MuscleMotion.Parts.L_SusoBack, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_SusoFront, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_SusoBack, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_SusoFront, damper, spring_ratio);
}
current_posture_ = posture_apose_;
}
public Posture deepCopy()
{
var posture = new Posture();
posture.node_data_list_ = new NodeData[node_data_list_.Length];
for (var i = 0; i < node_data_list_.Length; ++i)
{
posture.node_data_list_[i] = node_data_list_[i].deepCopy();
}
return(posture);
}
IEnumerator Start()
{
draw_buffer_.init();
yield return(FileUtil.preparePath("whole.dat"));
posture_ = JsonUtility.FromJson <Posture>(FileUtil.content);
muscle_motion_ = new MuscleMotion();
muscle_motion_.init(posture_, 40f /* damper */, 800f /* spring_ratio */);
GetComponent <MuscleMotionRenderer>().init();
initialized_ = true;
}
public void init(Posture posture, float damper, float spring_ratio)
{
node_list_ = new Node[(int)Parts.Max];
for (var i = 0; i < (int)Parts.Max; ++i)
{
node_list_[i] = new Node();
}
foreach (var node_data in posture.getNodeDataList())
{
// node_data.dump();
var node_idx = node_data.node_idx_;
var node = node_list_[node_idx];
var parent_node_idx = node_data.parent_node_idx_;
var parent_node = parent_node_idx < (int)Parts.Max ? node_list_[parent_node_idx] : null;
node.init(node_data, parent_node, damper, spring_ratio);
}
}
private void write_data(string filename, List <MuscleMotionEditor.TransformNode> transform_node_list, ulong mask)
{
var root = (target as MuscleMotionEditor).transform;
root.position = Vector3.zero;
var posture = new Posture();
var serialize = posture.beginSet();
foreach (var transform_node in transform_node_list)
{
posture.set(serialize,
transform_node.transform_,
transform_node.parts_,
transform_node.parent_parts_,
mask);
}
posture.endSet(serialize);
string json = JsonUtility.ToJson(posture);
var path = Application.streamingAssetsPath + "/" + filename + ".dat";
System.IO.File.WriteAllText(path, json);
Debug.LogFormat("write {0} done.", path);
}
void OnGUI()
{
int x = 20;
int y = 60;
int w = 240;
int h = 40;
GUI.Box(new Rect(Screen.width - (x + w + 10), y - 40, w, y + h * 10 + 10), "Posture Param");
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "body damper");
y += h / 2;
float body_damper = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), body_damper_, 0f, 100f);
if (body_damper_ != body_damper)
{
body_damper_ = body_damper;
}
y += h;
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "body spring");
y += h / 2;
float body_spring = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), body_spring_, 0f, 2000f);
if (body_spring_ != body_spring)
{
body_spring_ = body_spring;
}
y += h;
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "arm damper");
y += h / 2;
float arm_damper = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), arm_damper_, 0f, 100f);
if (arm_damper_ != arm_damper)
{
arm_damper_ = arm_damper;
}
y += h;
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "arm spring");
y += h / 2;
float arm_spring = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), arm_spring_, 0f, 2000f);
if (arm_spring_ != arm_spring)
{
arm_spring_ = arm_spring;
}
y += h;
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "leg damper");
y += h / 2;
float leg_damper = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), leg_damper_, 0f, 100f);
if (leg_damper_ != leg_damper)
{
leg_damper_ = leg_damper;
}
y += h;
GUI.Label(new Rect(Screen.width - (x + w), y, w - 20, h), "leg spring");
y += h / 2;
float leg_spring = GUI.HorizontalSlider(new Rect(Screen.width - (x + w), y, w - 20, h), leg_spring_, 0f, 2000f);
if (leg_spring_ != leg_spring)
{
leg_spring_ = leg_spring;
}
y += h;
x = 20;
y = 40;
w = 180;
h = 30;
GUI.Box(new Rect(x - 10, y - 20, x + w, y + h * 10 + 10), "Posture Menu");
if (GUI.Button(new Rect(x, y, w, h), "apose") || Input.GetKeyDown(KeyCode.Alpha0))
{
current_posture_ = posture_apose_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "pre_throw_l_arm") || Input.GetKeyDown(KeyCode.Alpha1))
{
current_posture_ = posture_pre_throw_l_arm_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "throw_l_arm") || Input.GetKeyDown(KeyCode.Alpha2))
{
current_posture_ = posture_throw_l_arm_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "pre_throw_r_arm") || Input.GetKeyDown(KeyCode.Alpha3))
{
current_posture_ = posture_pre_throw_r_arm_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "throw_r_arm") || Input.GetKeyDown(KeyCode.Alpha4))
{
current_posture_ = posture_throw_r_arm_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "pre_jump") || Input.GetKeyDown(KeyCode.Alpha5))
{
current_posture_ = posture_pre_jump_;
}
y += h;
if (GUI.Button(new Rect(x, y, w, h), "hit") || Input.GetKeyDown(KeyCode.Alpha6))
{
var torque0 = MyRandom.onSphere(1f) * 2000f;
muscle_motion_.getNode(MuscleMotion.Parts.Ribs).rigidbody_.addTorque(ref torque0);
var torque1 = MyRandom.onSphere(1f) * 2000f;
muscle_motion_.getNode(MuscleMotion.Parts.Ribs2).rigidbody_.addTorque(ref torque1);
var torque2 = MyRandom.onSphere(1f) * 2000f;
muscle_motion_.getNode(MuscleMotion.Parts.Ribs3).rigidbody_.addTorque(ref torque2);
}
y += h;
y += 8;
gui_lookat_ = GUI.HorizontalSlider(new Rect(x, y, w, h), gui_lookat_, 0f, 1f);
y += 10;
GUI.Label(new Rect(x, y, w, h), "value:" + gui_lookat_);
y += h;
gui_hand_ = GUI.Toggle(new Rect(x, y, w, h), gui_hand_, "hand");
y += h;
gui_rotate_ = GUI.Toggle(new Rect(x, y, w, h), gui_rotate_, "rotate");
y += h;
}
public IEnumerator initialize()
{
base.init();
yield return(FileUtil.preparePath("apose.dat"));
posture_apose_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_apose_ != null);
yield return(FileUtil.preparePath("pre_throw_l_arm.dat"));
posture_pre_throw_l_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_pre_throw_l_arm_ != null);
yield return(FileUtil.preparePath("pre_throw_r_arm.dat"));
posture_pre_throw_r_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_pre_throw_r_arm_ != null);
yield return(FileUtil.preparePath("throw_l_arm.dat"));
posture_throw_l_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_throw_l_arm_ != null);
yield return(FileUtil.preparePath("throw_r_arm.dat"));
posture_throw_r_arm_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_throw_r_arm_ != null);
yield return(FileUtil.preparePath("pre_jump.dat"));
posture_pre_jump_ = JsonUtility.FromJson <Posture>(FileUtil.content);
Debug.Assert(posture_throw_r_arm_ != null);
throwing_cnt_l_ = 0;
throwing_cnt_r_ = 0;
jump_tame_duration_ = 0f;
jump_propel_remain_ = 0f;
on_ground_ = true;
on_ground_time_ = 100f;
bullet_tame_left_ = 0f;
bullet_tame_right_ = 0f;
// hit_time_ = 0f;
somersault_ = false;
muscle_motion_ = new MuscleMotion();
muscle_motion_.init(posture_apose_, 80f /* damper */, 1500f /* spring */);
MuscleMotion.Node root_node = muscle_motion_.getRootNode();
look_at_ = new Vector3(0f, 1f, 0f);
rigidbody_.setPosition(0f, 1f, 15f);
var rot = Quaternion.LookRotation(look_at_ - rigidbody_.transform_.position_);
rigidbody_.setRotation(ref rot);
rigidbody_.setDamper(10f);
rigidbody_.setRotateDamper(50f);
root_node.rigidbody_.setDamper(10f);
root_node.rigidbody_.setRotateDamper(40f);
collider_ = MyCollider.createPlayer();
MyCollider.initSpherePlayer(collider_, ref rigidbody_.transform_.position_, 1f /* radius */);
// muscle_motion_.fix(MuscleMotion.Parts.Ribs, 0.4f /* interpolate_ratio */);
// muscle_motion_.fix(MuscleMotion.Parts.Ribs2);
// muscle_motion_.fix(MuscleMotion.Parts.Ribs3, 0.4f /* interpolate_ratio */);
// muscle_motion_.fix(MuscleMotion.Parts.Hip, 0.1f /* interpolate_ratio */);
{ /* body */
float damper = 60f;
float spring_ratio = 800f;
muscle_motion_.setParams(MuscleMotion.Parts.Ribs, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.Ribs2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.Ribs3, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.Hip, damper, spring_ratio);
}
{ /* arms */
float damper = 50f;
float spring_ratio = 1000f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Shoulder, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_UpperArm, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_ForeArm, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Wrist, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Shoulder, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_UpperArm, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_ForeArm, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Wrist, damper, spring_ratio);
}
{ /* legs */
float damper = 30f;
float spring_ratio = 500f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Thigh, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Knee, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Ancle, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Toe, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Thigh, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Knee, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Ancle, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Toe, damper, spring_ratio);
}
{ /* tales */
float damper = 10f;
float spring_ratio = 200f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale3, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Tale4, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale3, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Tale4, damper, spring_ratio);
}
{ /* ribbons */
float damper = 2f;
float spring_ratio = 100f;
muscle_motion_.setParams(MuscleMotion.Parts.L_Ribbon1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_Ribbon2, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Ribbon1, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_Ribbon2, damper, spring_ratio);
}
{ /* suso */
float damper = 10f;
float spring_ratio = 200f;
muscle_motion_.setParams(MuscleMotion.Parts.L_SusoBack, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.L_SusoFront, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_SusoBack, damper, spring_ratio);
muscle_motion_.setParams(MuscleMotion.Parts.R_SusoFront, damper, spring_ratio);
}
}
