// for BoingBehavior & BoingReactor
public void PrepareExecute(ref Params p, Vector3 position, Quaternion rotation, float scale, bool accumulateEffectors)
{
PositionTarget =
PositionOrigin = position;
RotationTarget =
RotationOrigin = QuaternionUtil.ToVector4(rotation);
if (accumulateEffectors)
{
// make relative
PositionTarget = Vector3.zero;
RotationTarget = Vector4.zero;
m_numEffectors = 0;
m_upWs =
p.Bits.IsBitSet(ReactorFlags.GlobalReactionUpVector)
? p.RotationReactionUp
: rotation *VectorUtil.NormalizeSafe(p.RotationReactionUp, Vector3.up);
m_scale = scale;
}
else
{
m_numEffectors = -1;
m_upWs = Vector3.zero;
}
}
public Params(BoingEffector effector)
{
Bits = new Bits32();
Bits.SetBit(BoingWork.EffectorFlags.ContinuousMotion, effector.ContinuousMotion);
float speedEffectRatio =
effector.MaxImpulseSpeed > MathUtil.Epsilon
? Mathf.Min(1.0f, effector.LinearSpeed / effector.MaxImpulseSpeed)
: 1.0f;
PrevPosition = effector.m_prevPosition;
CurrPosition = effector.m_currPosition;
LinearVelocityDir = VectorUtil.NormalizeSafe(effector.LinearVelocity, Vector3.zero);
Radius = effector.Radius;
FullEffectRadius = Radius * effector.FullEffectRadiusRatio;
MoveDistance = effector.MoveDistance;
LinearImpulse = speedEffectRatio * effector.LinearImpulse;
RotateAngle = effector.RotationAngle * MathUtil.Deg2Rad;
AngularImpulse = speedEffectRatio * effector.AngularImpulse * MathUtil.Deg2Rad;
m_padding0 = 0.0f;
m_padding1 = 0.0f;
m_padding2 = 0.0f;
m_padding3 = 0;
}
// for BoingReactorFied
public void PrepareExecute(ref Params p, Vector3 gridCenter, Quaternion gridRotation, Vector3 cellOffset)
{
PositionOrigin = gridCenter + cellOffset;
RotationOrigin = QuaternionUtil.ToVector4(Quaternion.identity);
// make relative
PositionTarget = Vector3.zero;
RotationTarget = Vector4.zero;
m_numEffectors = 0;
m_upWs =
p.Bits.IsBitSet(ReactorFlags.GlobalReactionUpVector)
? p.RotationReactionUp
: gridRotation *VectorUtil.NormalizeSafe(p.RotationReactionUp, Vector3.up);
m_scale = 1.0f;
}
public static bool SphereSphereInverse(Vector3 centerA, float radiusA, Vector3 centerB, float radiusB, out Vector3 push)
{
push = Vector3.zero;
Vector3 vec = centerB - centerA;
float dd = vec.sqrMagnitude;
float r = radiusB - radiusA;
if (dd <= r * r)
{
return(false);
}
float d = Mathf.Sqrt(dd);
push = VectorUtil.NormalizeSafe(vec, Vector3.zero) * (d - r);
return(true);
}
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.ScaleWs = rootBone.BlendedScaleLs = rootBone.CachedScaleLs;
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.ScaleWs);
bone.BlendedScaleLs =
Vector3.Lerp
(
Vector3.Lerp
(
bone.CachedScaleLs,
volumePreservationScaleVec,
bone.SquashAndStretch
),
bone.CachedScaleLs,
bone.AnimationBlend
);
}
else
{
bone.BlendedScaleLs = bone.CachedScaleLs;
}
bone.ScaleWs = VectorUtil.ComponentWiseMult(parentBone.ScaleWs, bone.BlendedScaleLs);
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.CachedPositionWs = bone.Transform.position;
bone.CachedPositionLs = bone.Transform.localPosition;
bone.CachedRotationWs = bone.Transform.rotation;
bone.CachedRotationLs = bone.Transform.localRotation;
}
// blend bone position
for (int iBone = 0; iBone < aBone.Length; ++iBone)
{
var bone = aBone[iBone];
// skip fixed root
if (iBone == 0 && !chain.LooseRoot)
{
bone.BlendedPositionWs = bone.CachedPositionWs;
continue;
}
bone.BlendedPositionWs =
Vector3.Lerp
(
bone.Instance.PositionSpring.Value,
bone.CachedPositionWs,
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.BlendedRotationWs = bone.CachedRotationWs;
continue;
}
if (bone.ChildIndices == null)
{
if (bone.ParentIndex >= 0)
{
var parentBone = aBone[bone.ParentIndex];
bone.BlendedRotationWs = parentBone.BlendedRotationWs * (parentBone.RotationInverseWs * bone.CachedRotationWs);
}
continue;
}
Vector3 bonePos = bone.CachedPositionWs;
Vector3 boneBlendedPos = bone.BlendedPositionWs;
Quaternion boneRot = bone.CachedRotationWs;
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.CachedPositionWs;
Vector3 childPosDelta = childPos - bonePos;
Vector3 childPosDeltaDir = VectorUtil.NormalizeSafe(childPosDelta, Vector3.zero);
Vector3 childBlendedPos = childBone.BlendedPositionWs;
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.BlendedRotationWs = (boneRot * bone.RotationBackPropDeltaPs) * boneRot;
}
else if (bone.ParentIndex >= 0)
{
var parentBone = aBone[bone.ParentIndex];
bone.BlendedRotationWs = parentBone.BlendedRotationWs * (parentBone.RotationInverseWs * bone.CachedRotationWs);
}
}
}
// 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.CachedPositionWs);
bone.Instance.RotationSpring.Reset(bone.CachedRotationWs);
continue;
}
bone.Transform.position = bone.BlendedPositionWs;
bone.Transform.rotation = bone.BlendedRotationWs;
bone.Transform.localScale = bone.BlendedScaleLs;
}
}
}
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 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);
}
