void FixedUpdate()
{
float dt = Time.fixedDeltaTime;
Vector3 linearInputVec = Vector3.zero;
if (Input.GetKey(KeyCode.W))
{
linearInputVec += Vector3.forward;
}
if (Input.GetKey(KeyCode.S))
{
linearInputVec += Vector3.back;
}
if (Input.GetKey(KeyCode.A))
{
linearInputVec += Vector3.left;
}
if (Input.GetKey(KeyCode.D))
{
linearInputVec += Vector3.right;
}
if (Input.GetKey(KeyCode.R))
{
linearInputVec += Vector3.up;
}
if (Input.GetKey(KeyCode.F))
{
linearInputVec += Vector3.down;
}
bool linearThrustOn = linearInputVec.sqrMagnitude > MathUtil.Epsilon;
if (linearThrustOn)
{
linearInputVec = linearInputVec.normalized * LinearThrust;
m_linearVelocity += linearInputVec * dt;
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, MaxLinearSpeed);
}
else
{
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, Mathf.Max(0.0f, m_linearVelocity.magnitude - LinearDrag * dt));
}
float speed = m_linearVelocity.magnitude;
float tSpeed = speed * MathUtil.InvSafe(MaxLinearSpeed);
Quaternion tiltRot = Quaternion.identity;
float tHorizontal = 1.0f;
float tHorizontalSpeed = 0.0f;
if (speed > MathUtil.Epsilon)
{
Vector3 flatVel = m_linearVelocity;
flatVel.y = 0.0f;
tHorizontal =
m_linearVelocity.magnitude > 0.01f
? 1.0f - Mathf.Clamp01(Mathf.Abs(m_linearVelocity.y) / m_linearVelocity.magnitude)
: 0.0f;
tHorizontalSpeed = Mathf.Min(1.0f, speed / Mathf.Max(MathUtil.Epsilon, MaxLinearSpeed)) * tHorizontal;
Vector3 tiltAxis = Vector3.Cross(Vector3.up, flatVel).normalized;
float tiltAngle = Tilt * MathUtil.Deg2Rad * tHorizontalSpeed;
tiltRot = QuaternionUtil.AxisAngle(tiltAxis, tiltAngle);
}
float angularInput = 0.0f;
if (Input.GetKey(KeyCode.Q))
{
angularInput -= 1.0f;
}
if (Input.GetKey(KeyCode.E))
{
angularInput += 1.0f;
}
bool largerMaxAngularSpeed = Input.GetKey(KeyCode.LeftControl);
bool angularThurstOn = Mathf.Abs(angularInput) > MathUtil.Epsilon;
if (angularThurstOn)
{
float maxAngularSpeed = MaxAngularSpeed * (largerMaxAngularSpeed ? 2.5f : 1.0f);
angularInput *= AngularThrust * MathUtil.Deg2Rad;
m_angularVelocity += angularInput * dt;
m_angularVelocity = Mathf.Clamp(m_angularVelocity, -maxAngularSpeed * MathUtil.Deg2Rad, maxAngularSpeed * MathUtil.Deg2Rad);
}
else
{
m_angularVelocity -= Mathf.Sign(m_angularVelocity) * Mathf.Min(Mathf.Abs(m_angularVelocity), AngularDrag * MathUtil.Deg2Rad * dt);
}
m_yawAngle += m_angularVelocity * dt;
Quaternion yawRot = QuaternionUtil.AxisAngle(Vector3.up, m_yawAngle);
m_hoverCenter += m_linearVelocity * dt;
m_hoverPhase += Time.deltaTime;
Vector3 hoverVec =
0.05f * Mathf.Sin(1.37f * m_hoverPhase) * Vector3.right
+ 0.05f * Mathf.Sin(1.93f * m_hoverPhase + 1.234f) * Vector3.forward
+ 0.04f * Mathf.Sin(0.97f * m_hoverPhase + 4.321f) * Vector3.up;
hoverVec *= Hover;
Quaternion hoverQuat = Quaternion.FromToRotation(Vector3.up, hoverVec + Vector3.up);
transform.position = m_hoverCenter + hoverVec;
transform.rotation = tiltRot * yawRot * hoverQuat;
if (Motor != null)
{
float motorAngularSpeedDeg = Mathf.Lerp(MotorBaseAngularSpeed, MotorMaxAngularSpeed, tHorizontalSpeed);
m_motorAngle += motorAngularSpeedDeg * MathUtil.Deg2Rad * dt;
Motor.localRotation = QuaternionUtil.AxisAngle(Vector3.up, m_motorAngle - m_yawAngle);
}
if (BubbleEmitter != null)
{
var emission = BubbleEmitter.emission;
emission.rateOverTime = Mathf.Lerp(BubbleBaseEmissionRate, BubbleMaxEmissionRate, tSpeed);
}
if (Eyes != null)
{
m_blinkTimer -= dt;
if (m_blinkTimer <= 0.0f)
{
bool doubleBlink = !m_lastBlinkWasDouble && Random.Range(0.0f, 1.0f) > 0.75f;
m_blinkTimer =
doubleBlink
? 0.2f
: BlinkInterval + Random.Range(1.0f, 2.0f);
m_lastBlinkWasDouble = doubleBlink;
m_eyeScaleSpring.Value.y = 0.0f;
m_eyePositionLsSpring.Value.y -= 0.025f;
}
Eyes.localScale = m_eyeScaleSpring.TrackDampingRatio(m_eyeInitScale, 30.0f, 0.8f, dt);
Eyes.localPosition = m_eyePositionLsSpring.TrackDampingRatio(m_eyeInitPositionLs, 30.0f, 0.8f, dt);
}
}
public static bool SphereBox(Vector3 centerOffsetA, float radiusA, Vector3 halfExtentB, out Vector3 push)
{
push = Vector3.zero;
Vector3 closestOnB =
new Vector3
(
Mathf.Clamp(centerOffsetA.x, -halfExtentB.x, halfExtentB.x),
Mathf.Clamp(centerOffsetA.y, -halfExtentB.y, halfExtentB.y),
Mathf.Clamp(centerOffsetA.z, -halfExtentB.z, halfExtentB.z)
);
Vector3 vec = centerOffsetA - closestOnB;
float dd = vec.sqrMagnitude;
if (dd > radiusA * radiusA)
{
return(false);
}
int numInBoxAxes =
((centerOffsetA.x <-halfExtentB.x || centerOffsetA.x> halfExtentB.x) ? 0 : 1)
+ ((centerOffsetA.y <-halfExtentB.y || centerOffsetA.y> halfExtentB.y) ? 0 : 1)
+ ((centerOffsetA.z <-halfExtentB.z || centerOffsetA.z> halfExtentB.z) ? 0 : 1);
switch (numInBoxAxes)
{
case 0: // hit corner
case 1: // hit edge
case 2: // hit face
{
push = VectorUtil.NormalizeSafe(vec, Vector3.right) * (radiusA - Mathf.Sqrt(dd));
}
break;
case 3: // inside
{
Vector3 penetration =
new Vector3
(
halfExtentB.x - Mathf.Abs(centerOffsetA.x) + radiusA,
halfExtentB.y - Mathf.Abs(centerOffsetA.y) + radiusA,
halfExtentB.z - Mathf.Abs(centerOffsetA.z) + radiusA
);
if (penetration.x < penetration.y)
{
if (penetration.x < penetration.z)
{
push = new Vector3(Mathf.Sign(centerOffsetA.x) * penetration.x, 0.0f, 0.0f);
}
else
{
push = new Vector3(0.0f, 0.0f, Mathf.Sign(centerOffsetA.z) * penetration.z);
}
}
else
{
if (penetration.y < penetration.z)
{
push = new Vector3(0.0f, Mathf.Sign(centerOffsetA.y) * penetration.y, 0.0f);
}
else
{
push = new Vector3(0.0f, 0.0f, Mathf.Sign(centerOffsetA.z) * penetration.z);
}
}
}
break;
}
return(true);
}
public void DrawGizmos()
{
switch (Shape)
{
case Type.Sphere:
//case Type.InverseSphere: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Sphere)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(Vector3.zero, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(Vector3.zero, scaledRadius);
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Capsule:
//case Type.InverseCapsule: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
float scaledHalfHeight = 0.5f * minScale * Height;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Capsule)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.down, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.down, scaledRadius);
for (int i = 0; i < 4; ++i)
{
float theta = i * MathUtil.HalfPi;
Vector3 offset = new Vector3(scaledRadius * Mathf.Cos(theta), 0.0f, scaledRadius * Mathf.Sin(theta));
Gizmos.DrawLine(offset + scaledHalfHeight * Vector3.up, offset + scaledHalfHeight * Vector3.down);
}
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Box:
//case Type.InverseBox: // TODO?
{
Vector3 scaledDimensions = VectorUtil.ComponentWiseMult(transform.localScale, Dimensions);
Gizmos.matrix = transform.localToWorldMatrix;
if (Shape == Type.Box)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawCube(Vector3.zero, scaledDimensions);
}
Gizmos.color = Color.white;
Gizmos.DrawWireCube(Vector3.zero, scaledDimensions);
Gizmos.matrix = Matrix4x4.identity;
}
break;
}
}
public void Execute(BoingBones bones, float dt)
{
float maxCollisionResolutionPushLen = bones.MaxCollisionResolutionSpeed * dt;
for (int iChain = 0; iChain < bones.BoneData.Length; ++iChain)
{
var chain = bones.BoneChains[iChain];
var aBone = bones.BoneData[iChain];
if (aBone == null)
{
continue;
}
Vector3 gravityDt = chain.Gravity * dt;
// execute boing work
for (int iBone = 0; iBone < aBone.Length; ++iBone) // skip root
{
var bone = aBone[iBone];
// no gravity on root
if (iBone > 0)
{
bone.Instance.PositionSpring.Velocity += gravityDt;
}
if (chain.ParamsOverride == null)
{
bone.Instance.Execute(ref bones.Params, dt);
}
else
{
bone.Instance.Execute(ref chain.ParamsOverride.Params, dt);
}
}
var rootBone = aBone[0];
rootBone.GlobalScale = rootBone.BlendedScale = rootBone.CachedScale;
rootBone.UpdateBounds();
chain.Bounds = rootBone.Bounds;
Vector3 rootAnimPos = rootBone.Transform.position;
// apply length stiffness & volume preservation
for (int iBone = 1; iBone < aBone.Length; ++iBone) // skip root
{
var bone = aBone[iBone];
var parentBone = aBone[bone.ParentIndex];
float tLengthStiffness = 1.0f - Mathf.Pow(1.0f - bone.LengthStiffness, 30.0f * dt); // a factor of 30.0f is what makes 0.5 length stiffness looks like 50% stiffness
Vector3 toParentVec = parentBone.Instance.PositionSpring.Value - bone.Instance.PositionSpring.Value;
Vector3 toParentDir = VectorUtil.NormalizeSafe(toParentVec, Vector3.zero);
float fullyStiffToParentLen = (parentBone.Transform.position - bone.Transform.position).magnitude;
float toParentLen = toParentVec.magnitude;
float fullyStiffLenDelta = toParentLen - fullyStiffToParentLen;
float toParentAdjustLen = tLengthStiffness * fullyStiffLenDelta;
// length stiffness
{
bone.Instance.PositionSpring.Value += toParentAdjustLen * toParentDir;
Vector3 velocityInParentAdjustDir = Vector3.Project(bone.Instance.PositionSpring.Velocity, toParentDir);
bone.Instance.PositionSpring.Velocity -= tLengthStiffness * velocityInParentAdjustDir;
}
// bend angle cap
if (bone.BendAngleCap < MathUtil.Pi - MathUtil.Epsilon)
{
Vector3 animPos = bone.Transform.position;
Vector3 posDelta = bone.Instance.PositionSpring.Value - rootAnimPos;
posDelta = VectorUtil.ClampBend(posDelta, animPos - rootAnimPos, bone.BendAngleCap);
bone.Instance.PositionSpring.Value = rootAnimPos + posDelta;
}
// volume preservation
if (bone.SquashAndStretch > 0.0f)
{
float toParentLenRatio = toParentLen * MathUtil.InvSafe(fullyStiffToParentLen);
float volumePreservationScale = Mathf.Sqrt(1.0f / toParentLenRatio);
volumePreservationScale = Mathf.Clamp(volumePreservationScale, 1.0f / Mathf.Max(1.0f, chain.MaxStretch), Mathf.Max(1.0f, chain.MaxSquash));
Vector3 volumePreservationScaleVec = VectorUtil.ComponentWiseDivSafe(volumePreservationScale * Vector3.one, parentBone.GlobalScale);
bone.BlendedScale =
Vector3.Lerp
(
Vector3.Lerp
(
bone.CachedScale,
volumePreservationScaleVec,
bone.SquashAndStretch
),
bone.CachedScale,
bone.AnimationBlend
);
}
else
{
bone.BlendedScale = bone.CachedScale;
}
bone.GlobalScale = VectorUtil.ComponentWiseMult(parentBone.GlobalScale, bone.BlendedScale);
bone.UpdateBounds();
chain.Bounds.Encapsulate(bone.Bounds);
}
chain.Bounds.Expand(0.2f * Vector3.one);
// Boing Kit colliders
if (chain.EnableBoingKitCollision)
{
foreach (var collider in bones.BoingColliders)
{
if (collider == null)
{
continue;
}
if (!chain.Bounds.Intersects(collider.Bounds))
{
continue;
}
foreach (var bone in aBone)
{
if (!bone.Bounds.Intersects(collider.Bounds))
{
continue;
}
Vector3 push;
bool collided = collider.Collide(bone.Instance.PositionSpring.Value, bones.MinScale * bone.CollisionRadius, out push);
if (!collided)
{
continue;
}
bone.Instance.PositionSpring.Value += VectorUtil.ClampLength(push, 0.0f, maxCollisionResolutionPushLen);
bone.Instance.PositionSpring.Velocity -= Vector3.Project(bone.Instance.PositionSpring.Velocity, push);
}
}
}
// Unity colliders
var sharedSphereCollider = BoingManager.SharedSphereCollider;
if (chain.EnableUnityCollision && sharedSphereCollider != null)
{
sharedSphereCollider.enabled = true;
foreach (var collider in bones.UnityColliders)
{
if (collider == null)
{
continue;
}
if (!chain.Bounds.Intersects(collider.bounds))
{
continue;
}
foreach (var bone in aBone)
{
if (!bone.Bounds.Intersects(collider.bounds))
{
continue;
}
sharedSphereCollider.center = bone.Instance.PositionSpring.Value;
sharedSphereCollider.radius = bone.CollisionRadius;
Vector3 pushDir;
float pushDist;
bool collided =
Physics.ComputePenetration
(
sharedSphereCollider, Vector3.zero, Quaternion.identity,
collider, collider.transform.position, collider.transform.rotation,
out pushDir, out pushDist
);
if (!collided)
{
continue;
}
bone.Instance.PositionSpring.Value += VectorUtil.ClampLength(pushDir * pushDist, 0.0f, maxCollisionResolutionPushLen);
bone.Instance.PositionSpring.Velocity -= Vector3.Project(bone.Instance.PositionSpring.Velocity, pushDir);
}
}
sharedSphereCollider.enabled = false;
}
// self collision
if (chain.EnableInterChainCollision)
{
foreach (var bone in aBone)
{
for (int iOtherChain = iChain + 1; iOtherChain < bones.BoneData.Length; ++iOtherChain)
{
var otherChain = bones.BoneChains[iOtherChain];
var aOtherBone = bones.BoneData[iOtherChain];
if (aOtherBone == null)
{
continue;
}
if (!otherChain.EnableInterChainCollision)
{
continue;
}
if (!chain.Bounds.Intersects(otherChain.Bounds))
{
continue;
}
foreach (var otherBone in aOtherBone)
{
Vector3 push;
bool collided =
Collision.SphereSphere
(
bone.Instance.PositionSpring.Value,
bones.MinScale * bone.CollisionRadius,
otherBone.Instance.PositionSpring.Value,
bones.MinScale * otherBone.CollisionRadius,
out push
);
if (!collided)
{
continue;
}
push = VectorUtil.ClampLength(push, 0.0f, maxCollisionResolutionPushLen);
float pushRatio = otherBone.CollisionRadius * MathUtil.InvSafe(bone.CollisionRadius + otherBone.CollisionRadius);
bone.Instance.PositionSpring.Value += pushRatio * push;
otherBone.Instance.PositionSpring.Value -= (1.0f - pushRatio) * push;
bone.Instance.PositionSpring.Velocity -= Vector3.Project(bone.Instance.PositionSpring.Velocity, push);
otherBone.Instance.PositionSpring.Velocity -= Vector3.Project(otherBone.Instance.PositionSpring.Velocity, push);
}
}
}
}
} // end: foreach bone chain
}
public void PullResults(BoingBones bones)
{
for (int iChain = 0; iChain < bones.BoneData.Length; ++iChain)
{
var chain = bones.BoneChains[iChain];
var aBone = bones.BoneData[iChain];
if (aBone == null)
{
continue;
}
// must cache before manipulating bone transforms
// otherwise, we'd cache delta propagated down from parent bones
foreach (var bone in aBone)
{
bone.CachedPosition = bone.Transform.position;
bone.CachedRotation = bone.Transform.rotation;
}
// blend bone position
for (int iBone = 0; iBone < aBone.Length; ++iBone)
{
var bone = aBone[iBone];
// skip fixed root
if (iBone == 0 && !chain.LooseRoot)
{
bone.BlendedPosition = bone.CachedPosition;
continue;
}
bone.BlendedPosition =
Vector3.Lerp
(
bone.Instance.PositionSpring.Value,
bone.CachedPosition,
bone.AnimationBlend
);
}
// rotation delta back-propagation
if (bones.EnableRotationEffect)
{
for (int iBone = 0; iBone < aBone.Length; ++iBone)
{
var bone = aBone[iBone];
// skip fixed root
if (iBone == 0 && !chain.LooseRoot)
{
bone.BlendedRotation = bone.CachedRotation;
continue;
}
if (bone.ChildIndices == null)
{
if (bone.ParentIndex >= 0)
{
var parentBone = aBone[bone.ParentIndex];
bone.BlendedRotation = parentBone.BlendedRotation * (parentBone.RotationInverse * bone.CachedRotation);
}
continue;
}
Vector3 bonePos = bone.CachedPosition;
Vector3 boneBlendedPos = bone.BlendedPosition;
Quaternion boneRot = bone.CachedRotation;
Quaternion boneRotInv = Quaternion.Inverse(boneRot);
Vector4 childRotDeltaPsVecAccumulator = Vector3.zero;
float totalWeight = 0.0f;
foreach (int iChild in bone.ChildIndices)
{
var childBone = aBone[iChild];
Vector3 childPos = childBone.CachedPosition;
Vector3 childPosDelta = childPos - bonePos;
Vector3 childPosDeltaDir = VectorUtil.NormalizeSafe(childPosDelta, Vector3.zero);
Vector3 childBlendedPos = childBone.BlendedPosition;
Vector3 childBlendedPosDelta = childBlendedPos - boneBlendedPos;
Vector3 childBlendedPosDeltaDir = VectorUtil.NormalizeSafe(childBlendedPosDelta, Vector3.zero);
Quaternion childRotDelta = Quaternion.FromToRotation(childPosDeltaDir, childBlendedPosDeltaDir);
Quaternion childRotDeltaPs = boneRotInv * childRotDelta;
Vector4 childRotDeltaPsVec = QuaternionUtil.ToVector4(childRotDeltaPs);
float weight = Mathf.Max(MathUtil.Epsilon, chain.MaxLengthFromRoot - childBone.LengthFromRoot);
childRotDeltaPsVecAccumulator += weight * childRotDeltaPsVec;
totalWeight += weight;
}
if (totalWeight > 0.0f)
{
Vector4 avgChildRotDeltaPsVec = childRotDeltaPsVecAccumulator / totalWeight;
bone.RotationBackPropDeltaPs = QuaternionUtil.FromVector4(avgChildRotDeltaPsVec);
bone.BlendedRotation = (boneRot * bone.RotationBackPropDeltaPs) * boneRot;
}
else if (bone.ParentIndex >= 0)
{
var parentBone = aBone[bone.ParentIndex];
bone.BlendedRotation = parentBone.BlendedRotation * (parentBone.RotationInverse * bone.CachedRotation);
}
}
}
// write blended position & adjusted rotation into final transforms
for (int iBone = 0; iBone < aBone.Length; ++iBone)
{
var bone = aBone[iBone];
// skip fixed root
if (iBone == 0 && !chain.LooseRoot)
{
bone.Instance.PositionSpring.Reset(bone.CachedPosition);
bone.Instance.RotationSpring.Reset(bone.CachedRotation);
continue;
}
bone.Transform.position = bone.BlendedPosition;
bone.Transform.rotation = bone.BlendedRotation;
bone.Transform.localScale = bone.BlendedScale;
}
}
bones.LastPullResultsFrame = Time.frameCount;
}
public void AccumulateTarget(ref Params p, ref BoingEffector.Params effector)
{
Vector3 effectRefPos =
effector.Bits.IsBitSet(BoingWork.EffectorFlags.ContinuousMotion)
? VectorUtil.GetClosestPointOnSegment(PositionOrigin, effector.PrevPosition, effector.CurrPosition)
: effector.CurrPosition;
Vector3 deltaPos = PositionOrigin - effectRefPos;
Vector3 deltaPos3D = deltaPos;
if (p.Bits.IsBitSet(ReactorFlags.TwoDDistanceCheck))
{
switch (p.TwoDPlane)
{
case TwoDPlaneEnum.XY: deltaPos.z = 0.0f; break;
case TwoDPlaneEnum.XZ: deltaPos.y = 0.0f; break;
case TwoDPlaneEnum.YZ: deltaPos.x = 0.0f; break;
}
}
bool inRange =
Mathf.Abs(deltaPos.x) <= effector.Radius &&
Mathf.Abs(deltaPos.y) <= effector.Radius &&
Mathf.Abs(deltaPos.z) <= effector.Radius &&
deltaPos.sqrMagnitude <= effector.Radius * effector.Radius;
if (!inRange)
{
return;
}
float deltaDist = deltaPos.magnitude;
float tDeltaDist =
effector.Radius - effector.FullEffectRadius > MathUtil.Epsilon
? 1.0f - Mathf.Clamp01((deltaDist - effector.FullEffectRadius) / (effector.Radius - effector.FullEffectRadius))
: 1.0f;
Vector3 upWsPos = m_upWs;
Vector3 upWsRot = m_upWs;
Vector3 deltaDirPos = VectorUtil.NormalizeSafe(deltaPos3D, m_upWs);
Vector3 deltaDirRot = deltaDirPos;
if (p.Bits.IsBitSet(ReactorFlags.TwoDPositionInfluence))
{
switch (p.TwoDPlane)
{
case TwoDPlaneEnum.XY: deltaDirPos.z = 0.0f; upWsPos.z = 0.0f; break;
case TwoDPlaneEnum.XZ: deltaDirPos.y = 0.0f; upWsPos.y = 0.0f; break;
case TwoDPlaneEnum.YZ: deltaDirPos.x = 0.0f; upWsPos.x = 0.0f; break;
}
if (upWsPos.sqrMagnitude < MathUtil.Epsilon)
{
switch (p.TwoDPlane)
{
case TwoDPlaneEnum.XY: upWsPos = Vector3.up; break;
case TwoDPlaneEnum.XZ: upWsPos = Vector3.forward; break;
case TwoDPlaneEnum.YZ: upWsPos = Vector3.up; break;
}
}
else
{
upWsPos.Normalize();
}
deltaDirPos = VectorUtil.NormalizeSafe(deltaDirPos, upWsPos);
}
if (p.Bits.IsBitSet(ReactorFlags.TwoDRotationInfluence))
{
switch (p.TwoDPlane)
{
case TwoDPlaneEnum.XY: deltaDirRot.z = 0.0f; upWsRot.z = 0.0f; break;
case TwoDPlaneEnum.XZ: deltaDirRot.y = 0.0f; upWsRot.y = 0.0f; break;
case TwoDPlaneEnum.YZ: deltaDirRot.x = 0.0f; upWsRot.x = 0.0f; break;
}
if (upWsRot.sqrMagnitude < MathUtil.Epsilon)
{
switch (p.TwoDPlane)
{
case TwoDPlaneEnum.XY: upWsRot = Vector3.up; break;
case TwoDPlaneEnum.XZ: upWsRot = Vector3.forward; break;
case TwoDPlaneEnum.YZ: upWsRot = Vector3.up; break;
}
}
else
{
upWsRot.Normalize();
}
deltaDirRot = VectorUtil.NormalizeSafe(deltaDirRot, upWsRot);
}
if (p.Bits.IsBitSet(ReactorFlags.EnablePositionEffect))
{
Vector3 moveVec = tDeltaDist * p.MoveReactionMultiplier * effector.MoveDistance * deltaDirPos;
PositionTarget += moveVec;
PositionSpring.Velocity += tDeltaDist * p.LinearImpulseMultiplier * effector.LinearImpulse * effector.LinearVelocityDir;
}
if (p.Bits.IsBitSet(ReactorFlags.EnableRotationEffect))
{
Vector3 rotAxis = VectorUtil.NormalizeSafe(Vector3.Cross(upWsRot, deltaDirRot), VectorUtil.FindOrthogonal(upWsRot));
Vector3 rotVec = tDeltaDist * p.RotationReactionMultiplier * effector.RotateAngle * rotAxis;
RotationTarget += QuaternionUtil.ToVector4(QuaternionUtil.FromAngularVector(rotVec));
Vector3 angularImpulseDir = VectorUtil.NormalizeSafe(Vector3.Cross(effector.LinearVelocityDir, deltaDirRot - 0.01f * Vector3.up), rotAxis);
float angularImpulseMag = tDeltaDist * p.AngularImpulseMultiplier * effector.AngularImpulse;
Vector4 angularImpulseDirQuat = QuaternionUtil.ToVector4(QuaternionUtil.FromAngularVector(angularImpulseDir));
RotationSpring.VelocityVec += angularImpulseMag * angularImpulseDirQuat;
}
++m_numEffectors;
}
public override void PrepareExecute()
{
base.PrepareExecute();
// repurpose rotation effect flag for bone rotation delta back-propagation
Params.Bits.SetBit(BoingWork.ReactorFlags.EnableRotationEffect, false);
float dt = Time.fixedDeltaTime;
m_minScale = Mathf.Min(transform.localScale.x, transform.localScale.y, transform.localScale.z);
for (int iChain = 0; iChain < BoneData.Length; ++iChain)
{
var chain = BoneChains[iChain];
var aBone = BoneData[iChain];
if (aBone == null || chain.Root == null || aBone.Length == 0)
{
continue;
}
// update length from root
float maxLengthFromRoot = 0.0f;
foreach (var bone in aBone)
{
if (bone.ParentIndex < 0)
{
bone.LengthFromRoot = 0.0f;
continue;
}
var parentBone = aBone[bone.ParentIndex];
float distFromParent = Vector3.Distance(bone.Transform.position, parentBone.Transform.position);
bone.LengthFromRoot = parentBone.LengthFromRoot + distFromParent;
maxLengthFromRoot = Mathf.Max(maxLengthFromRoot, bone.LengthFromRoot);
}
float maxLengthFromRootInv = MathUtil.InvSafe(maxLengthFromRoot);
// set up bones
foreach (var bone in aBone)
{
// evaluate curves
float tBone = bone.LengthFromRoot * maxLengthFromRootInv;
bone.AnimationBlend = Chain.EvaluateCurve(chain.AnimationBlendCurveType, tBone, chain.AnimationBlendCustomCurve);
bone.LengthStiffness = Chain.EvaluateCurve(chain.LengthStiffnessCurveType, tBone, chain.LengthStiffnessCustomCurve);
bone.PoseStiffness = Chain.EvaluateCurve(chain.PoseStiffnessCurveType, tBone, chain.PoseStiffnessCustomCurve);
bone.BendAngleCap = chain.MaxBendAngleCap * MathUtil.Deg2Rad * Chain.EvaluateCurve(chain.BendAngleCapCurveType, tBone, chain.BendAngleCapCustomCurve);
bone.CollisionRadius = chain.MaxCollisionRadius * Chain.EvaluateCurve(chain.CollisionRadiusCurveType, tBone, chain.CollisionRadiusCustomCurve);
bone.SquashAndStretch = Chain.EvaluateCurve(chain.SquashAndStretchCurveType, tBone, chain.SquashAndStretchCustomCurve);
}
// compute target transform
var rootBone = aBone[0];
Vector3 rootAnimPos = rootBone.Transform.position;
foreach (var bone in aBone)
{
bone.RotationInverse = Quaternion.Inverse(bone.Transform.rotation);
bone.SpringRotation = bone.Instance.RotationSpring.ValueQuat;
bone.SpringRotationInverse = Quaternion.Inverse(bone.SpringRotation);
Vector3 targetPos = bone.Transform.position;
Quaternion targetRot = bone.Transform.rotation;
// compute translation & rotation in parent space
if (bone.ParentIndex >= 0)
{
// TODO: use parent spring transform to compute blended position & rotation
var parentBone = aBone[bone.ParentIndex];
Vector3 parentAnimPos = parentBone.Transform.position;
Vector3 parentSpringPos = parentBone.Instance.PositionSpring.Value;
Vector3 springPosPs = parentBone.SpringRotationInverse * (bone.Instance.PositionSpring.Value - parentSpringPos);
Quaternion springRotPs = parentBone.SpringRotationInverse * bone.Instance.RotationSpring.ValueQuat;
Vector3 animPos = bone.Transform.position;
Quaternion animRot = bone.Transform.rotation;
Vector3 animPosPs = parentBone.RotationInverse * (animPos - parentAnimPos);
Quaternion animRotPs = parentBone.RotationInverse * animRot;
// apply pose stiffness
float tPoseStiffness = bone.PoseStiffness;
Vector3 blendedPosPs = Vector3.Lerp(springPosPs, animPosPs, tPoseStiffness);
Quaternion blendedRotPs = Quaternion.Slerp(springRotPs, animRotPs, tPoseStiffness);
targetPos = parentSpringPos + (parentBone.SpringRotation * blendedPosPs);
targetRot = parentBone.SpringRotation * blendedRotPs;
// bend angle cap
if (bone.BendAngleCap < MathUtil.Pi - MathUtil.Epsilon)
{
Vector3 targetPosDelta = targetPos - rootAnimPos;
targetPosDelta = VectorUtil.ClampBend(targetPosDelta, animPos - rootAnimPos, bone.BendAngleCap);
targetPos = rootAnimPos + targetPosDelta;
}
}
// do we need target-level collision?
/*
* // Boing Kit colliders
* if (chain.EnableBoingKitCollision)
* {
* foreach (var collider in BoingColliders)
* {
* if (collider == null)
* continue;
*
* Vector3 push;
* bool collided = collider.Collide(targetPos, MinScale * bone.CollisionRadius, out push);
* if (!collided)
* continue;
*
* targetPos += push;
* }
* }
*
* // Unity colliders
* if (chain.EnableUnityCollision)
* {
* foreach (var rigidbody in UnityRigidBodies)
* {
* if (rigidbody == null)
* continue;
*
* var collider = rigidbody.GetComponent<Collider>();
* if (collider == null)
* continue;
*
* if (!bone.Bounds.Intersects(collider.bounds))
* continue;
*
* SharedSphereCollider.center = targetPos;
* SharedSphereCollider.radius = bone.CollisionRadius;
*
* Vector3 pushDir;
* float pushDist;
* bool collided =
* Physics.ComputePenetration
* (
* SharedSphereCollider, Vector3.zero, Quaternion.identity,
* collider, collider.transform.position, collider.transform.rotation,
* out pushDir, out pushDist
* );
* if (!collided)
* continue;
*
* targetPos += pushDir * pushDist;
* }
* }
*/
if (chain.ParamsOverride == null)
{
bone.Instance.PrepareExecute
(
ref Params,
targetPos,
targetRot,
MinScale,
true
);
}
else
{
bone.Instance.PrepareExecute
(
ref chain.ParamsOverride.Params,
targetPos,
targetRot,
MinScale,
true
);
}
}
}
}
