public Quaternion TrackDampingRatio(Vector4 targetValueVec, float angularFrequency, float dampingRatio, float deltaTime) { if (angularFrequency < MathUtil.Epsilon) { VelocityVec = QuaternionUtil.ToVector4(Quaternion.identity); return(QuaternionUtil.FromVector4(ValueVec)); } // keep in same hemisphere for shorter track delta if (Vector4.Dot(ValueVec, targetValueVec) < 0.0f) { targetValueVec = -targetValueVec; } Vector4 delta = targetValueVec - ValueVec; float f = 1.0f + 2.0f * deltaTime * dampingRatio * angularFrequency; float oo = angularFrequency * angularFrequency; float hoo = deltaTime * oo; float hhoo = deltaTime * hoo; float detInv = 1.0f / (f + hhoo); Vector4 detX = f * ValueVec + deltaTime * VelocityVec + hhoo * targetValueVec; Vector4 detV = VelocityVec + hoo * delta; VelocityVec = detV * detInv; ValueVec = detX * detInv; if (VelocityVec.magnitude < MathUtil.Epsilon && delta.magnitude < MathUtil.Epsilon) { VelocityVec = Vector4.zero; ValueVec = targetValueVec; } return(QuaternionUtil.FromVector4(ValueVec)); }
public Quaternion TrackExponential(Vector4 targetValueVec, float halfLife, float deltaTime) { if (halfLife < MathUtil.Epsilon) { VelocityVec = Vector4.zero; ValueVec = targetValueVec; return(QuaternionUtil.FromVector4(targetValueVec)); } float angularFrequency = 0.6931472f / halfLife; float dampingRatio = 1.0f; return(TrackDampingRatio(targetValueVec, angularFrequency, dampingRatio, deltaTime)); }
public Quaternion TrackHalfLife(Vector4 targetValueVec, float frequencyHz, float halfLife, float deltaTime) { if (halfLife < MathUtil.Epsilon) { VelocityVec = Vector4.zero; ValueVec = targetValueVec; return(QuaternionUtil.FromVector4(targetValueVec)); } float angularFrequency = frequencyHz * MathUtil.TwoPi; float dampingRatio = 0.6931472f / (angularFrequency * halfLife); return(TrackDampingRatio(targetValueVec, angularFrequency, dampingRatio, deltaTime)); }
public void SampleFromField() { m_objPosition = transform.position; m_objRotation = transform.rotation; if (ReactorField == null) { return; } var comp = ReactorField.GetComponent <BoingReactorField>(); if (comp == null) { #if UNITY_EDITOR if (!s_warnedComponent) { Debug.LogWarning("The assigned ReactorField game object must have a BoingReactorField component for BoingReactorFieldCpuSampler components to sample from."); s_warnedComponent = true; } #endif return; } if (comp.HardwareMode != BoingReactorField.HardwareModeEnum.CPU) { #if UNITY_EDITOR if (!s_warnedHardwareMode) { Debug.LogWarning("The BoingReactorField component needs to be set to CPU hardware mode for BoingReactorFieldCpuSampler components to sample from."); s_warnedHardwareMode = true; } #endif return; } Vector3 positionOffset; Vector4 rotationOffset; if (!comp.SampleCpuGrid(transform.position, out positionOffset, out rotationOffset)) { return; } transform.position = m_objPosition + positionOffset * PositionSampleMultiplier; transform.rotation = QuaternionUtil.Pow(QuaternionUtil.FromVector4(rotationOffset), RotationSampleMultiplier) * m_objRotation; }
public void EndAccumulateTargets(ref Params p) { if (m_numEffectors > 0) { PositionTarget *= m_scale / m_numEffectors; PositionTarget += PositionOrigin; RotationTarget /= m_numEffectors; RotationTarget = QuaternionUtil.ToVector4(QuaternionUtil.FromVector4(RotationTarget) * QuaternionUtil.FromVector4(RotationOrigin)); } else { PositionTarget = PositionOrigin; RotationTarget = RotationOrigin; } }
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 Execute(ref Params p, float dt) { bool useAccumulatedEffectors = (m_numEffectors >= 0); bool positionSpringNeedsUpdate = useAccumulatedEffectors ? (PositionSpring.Velocity.sqrMagnitude > MathUtil.Epsilon || (PositionSpring.Value - PositionTarget).sqrMagnitude > MathUtil.Epsilon) : p.Bits.IsBitSet(ReactorFlags.EnablePositionEffect); bool rotationSpringNeedsUpdate = useAccumulatedEffectors ? (RotationSpring.VelocityVec.sqrMagnitude > MathUtil.Epsilon || (RotationSpring.ValueVec - RotationTarget).sqrMagnitude > MathUtil.Epsilon) : p.Bits.IsBitSet(ReactorFlags.EnableRotationEffect); if (m_numEffectors == 0) { bool earlyOut = true; if (positionSpringNeedsUpdate) { earlyOut = false; } else { PositionSpring.Reset(PositionTarget); } if (rotationSpringNeedsUpdate) { earlyOut = false; } else { RotationSpring.Reset(QuaternionUtil.FromVector4(RotationTarget)); } if (earlyOut) { return; } } if (m_instantAccumulation != 0) { PositionSpring.Value = PositionTarget; RotationSpring.ValueVec = RotationTarget; m_instantAccumulation = 0; } else { if (positionSpringNeedsUpdate) { switch (p.PositionParameterMode) { case ParameterMode.Exponential: PositionSpring.TrackExponential(PositionTarget, p.PositionExponentialHalfLife, dt); break; case ParameterMode.OscillationByHalfLife: PositionSpring.TrackHalfLife(PositionTarget, p.PositionOscillationFrequency, p.PositionOscillationHalfLife, dt); break; case ParameterMode.OscillationByDampingRatio: PositionSpring.TrackDampingRatio(PositionTarget, p.PositionOscillationFrequency * MathUtil.TwoPi, p.PositionOscillationDampingRatio, dt); break; } } if (rotationSpringNeedsUpdate) { switch (p.RotationParameterMode) { case ParameterMode.Exponential: RotationSpring.TrackExponential(RotationTarget, p.RotationExponentialHalfLife, dt); break; case ParameterMode.OscillationByHalfLife: RotationSpring.TrackHalfLife(RotationTarget, p.RotationOscillationFrequency, p.RotationOscillationHalfLife, dt); break; case ParameterMode.OscillationByDampingRatio: RotationSpring.TrackDampingRatio(RotationTarget, p.RotationOscillationFrequency * MathUtil.TwoPi, p.RotationOscillationDampingRatio, dt); break; } } } if (!useAccumulatedEffectors) { if (!positionSpringNeedsUpdate) { PositionSpring.Reset(PositionTarget); } if (!rotationSpringNeedsUpdate) { RotationSpring.Reset(RotationTarget); } } }
public void OnDrawGizmos() { if (BoneData == null) { return; } bool selected = false; foreach (var selectedGo in UnityEditor.Selection.gameObjects) { if (gameObject == selectedGo) { selected = true; break; } foreach (var collider in BoingColliders) { if (collider == null) { continue; } if (collider.gameObject == selectedGo) { selected = true; break; } } if (selected) { break; } } if (!selected) { return; } for (int iChain = 0; iChain < BoneData.Length; ++iChain) { var chain = BoneChains[iChain]; var aBone = BoneData[iChain]; if (aBone == null) { continue; } foreach (var bone in aBone) { var parentBone = bone.ParentIndex >= 0 ? aBone[bone.ParentIndex] : null; Vector3 boneAnimPos = Application.isPlaying ? bone.CachedPositionWs : bone.Transform.position; Vector3 boneTargetPos = bone.Instance.PositionTarget; Vector3 boneSpringPos = bone.Instance.PositionSpring.Value; Vector3 boneBlendedPos = bone.BlendedPositionWs; Quaternion boneAnimRot = Application.isPlaying ? bone.CachedRotationWs : bone.Transform.rotation; Quaternion boneTargetRot = QuaternionUtil.FromVector4(bone.Instance.RotationTarget); Quaternion boneSpringRot = bone.Instance.RotationSpring.ValueQuat; Quaternion boneBlendedRot = bone.BlendedRotationWs; float boneRadius = (chain.EnableBoingKitCollision || chain.EnableUnityCollision || chain.EnableInterChainCollision) ? MinScale * bone.CollisionRadius : 0.02f; Gizmos.color = Color.white; if (DebugDrawRawBones) { Gizmos.matrix = Matrix4x4.TRS(boneAnimPos, boneAnimRot, Vector3.one); Gizmos.DrawWireSphere(Vector3.zero, boneRadius); Gizmos.matrix = Matrix4x4.identity; if (parentBone != null) { Vector3 parentAnimPos = Application.isPlaying ? parentBone.CachedPositionWs : parentBone.Transform.position; Gizmos.DrawLine(boneAnimPos, parentAnimPos); } if (DebugDrawBoneNames) { Handles.Label(boneAnimPos, bone.Transform.name); } if (DebugDrawLengthFromRoot) { float tBone = Mathf.Clamp01(bone.LengthFromRoot * MathUtil.InvSafe(chain.MaxLengthFromRoot)); Handles.Label(boneAnimPos, bone.LengthFromRoot.ToString("n3") + " (t: " + tBone.ToString("n2") + ")"); } } Gizmos.color = Color.yellow; if (DebugDrawBoingBones && Application.isPlaying) { Gizmos.matrix = Matrix4x4.TRS(boneSpringPos, boneSpringRot, Vector3.one); Gizmos.DrawWireSphere(Vector3.zero, boneRadius); Gizmos.matrix = Matrix4x4.identity; if (parentBone != null) { Vector3 parentSpringPos = parentBone.Instance.PositionSpring.Value; Gizmos.DrawLine(boneSpringPos, parentSpringPos); } if (DebugDrawBoneNames) { Handles.Label(boneSpringPos, bone.Transform.name); } } Gizmos.color = Color.red; if (DebugDrawTargetBones && Application.isPlaying) { Gizmos.matrix = Matrix4x4.TRS(boneTargetPos, boneTargetRot, Vector3.one); Gizmos.DrawWireSphere(Vector3.zero, boneRadius); Gizmos.matrix = Matrix4x4.identity; if (parentBone != null) { Vector3 parentTargetPos = parentBone.Instance.PositionTarget; Gizmos.DrawLine(boneTargetPos, parentTargetPos); } if (DebugDrawBoneNames) { Handles.Label(boneTargetPos, bone.Transform.name); } } Gizmos.color = Color.green; if (DebugDrawFinalBones && Application.isPlaying) { Gizmos.matrix = Matrix4x4.TRS(boneBlendedPos, boneBlendedRot, Vector3.one); Gizmos.DrawWireSphere(Vector3.zero, boneRadius); Gizmos.matrix = Matrix4x4.identity; if (parentBone != null) { Vector3 blendedParentBone = Vector3.Lerp(parentBone.Instance.PositionSpring.Value, parentBone.CachedPositionWs, parentBone.AnimationBlend); Gizmos.DrawLine(boneBlendedPos, blendedParentBone); } if (DebugDrawBoneNames) { Handles.Label(boneBlendedPos, bone.Transform.name); } } } Gizmos.color = Color.cyan; if (DebugDrawChainBounds && (chain.EnableBoingKitCollision || chain.EnableUnityCollision)) { Gizmos.matrix = Matrix4x4.Translate(chain.Bounds.center); Gizmos.DrawWireCube(Vector3.zero, chain.Bounds.size); Gizmos.matrix = Matrix4x4.identity; } } if (DebugDrawColliders) { foreach (var collider in BoingColliders) { if (collider == null) { continue; } collider.DrawGizmos(); } } }