public bool Collide(Vector3 boneCenter, float boneRadius, out Vector3 push) { switch (Shape) { case Type.Sphere: { float minScale = VectorUtil.MinComponent(transform.localScale); return(Collision.SphereSphere(boneCenter, boneRadius, transform.position, minScale * Radius, out push)); } case Type.Capsule: { float minScale = VectorUtil.MinComponent(transform.localScale); Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up); Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down); return(Collision.SphereCapsule(boneCenter, boneRadius, head, tail, minScale * Radius, out push)); } case Type.Box: { Vector3 centerLs = transform.InverseTransformPoint(boneCenter); Vector3 scaledHalfExtents = 0.5f * VectorUtil.ComponentWiseMult(transform.localScale, Dimensions); bool collided = Collision.SphereBox(centerLs, boneRadius, scaledHalfExtents, out push); if (!collided) { return(false); } push = transform.TransformVector(push); return(true); } // TODO? /* * case Type.InverseSphere: * { * float minScale = VectorUtil.MinComponent(transform.localScale); * return Collision.SphereSphereInverse(boneCenter, boneRadius, transform.position, minScale * Radius, out push); * } * * case Type.InverseCapsule: * { * float minScale = VectorUtil.MinComponent(transform.localScale); * Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up); * Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down); * return Collision.SphereCapsuleInverse(boneCenter, boneRadius, head, tail, minScale * Radius, out push); * } */ } push = Vector3.zero; return(false); }
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 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; } }