static Bounds GetBoxBounds(Ragdoll.Element bone, Ragdoll.Element topCutoff, Ragdoll.Element[] encapsulate, bool adjustMin)
{
Bounds bounds = new Bounds();
//encapsulate upper arms and upper legs positions
for (int i = 0; i < 4; i++)
{
bounds.Encapsulate(bone.transform.InverseTransformPoint(encapsulate[i].transform.position));
}
if (adjustMin)
{
Vector3 min = bounds.min;
min.y = 0;
bounds.min = min;
}
//adjust max bounds based on next bone
Vector3 max = bounds.max;
max.y = bone.transform.InverseTransformPoint(topCutoff.transform.position).y;
bounds.max = max;
return(bounds);
}
static Collider AddBoxCollider(Ragdoll.Element bone, Bounds bounds)
{
BoxCollider box = bone.AddComponent <BoxCollider>();
box.center = bounds.center;
box.size = bounds.size;
return(box);
}
static void AddBreastColliders(Dictionary <HumanBodyBones, Ragdoll.Element> bones)
{
Ragdoll.Element[] encapsulate = new Ragdoll.Element[] {
bones[HumanBodyBones.LeftUpperArm], bones[HumanBodyBones.RightUpperArm],
bones[HumanBodyBones.LeftUpperLeg], bones[HumanBodyBones.RightUpperLeg],
};
Ragdoll.Element hips = bones[HumanBodyBones.Hips];
Ragdoll.Element chest = bones[HumanBodyBones.Chest];
Ragdoll.Element head = bones[HumanBodyBones.Head];
hips.collider = AddBoxCollider(hips, GetBoxBounds(hips, chest, encapsulate, false));
chest.collider = AddBoxCollider(chest, GetBoxBounds(chest, head, encapsulate, true));
}
void InitializeVelocitySetValues()
{
animationVelocityTrackers = new VelocityTracker[Ragdoll.bonesCount];
for (int i = 0; i < Ragdoll.bonesCount; i++)
{
Ragdoll.Element bone = ragdoll.GetBone(Ragdoll.humanBones[i]);
//track position (offset by ragdoll bone's rigidbody centor of mass) of the follow target
Vector3 massCenterOffset = bone.transform.InverseTransformPoint(bone.rigidbody.worldCenterOfMass);
animationVelocityTrackers[i] = new VelocityTracker(bone.followTarget.transform, massCenterOffset);
}
}
static void BuildCapsules(Dictionary <HumanBodyBones, Ragdoll.Element> bones)
{
foreach (var k in capsuleBones)
{
Ragdoll.Element bone = bones[k];
int direction = k.ToString().Contains("Arm") ? 0 : 1;
float distance;
if (upperCapsuleBones.Contains(k))
{
distance = bone.transform.InverseTransformPoint(bones[GetChildBone(k)].transform.position)[direction];
}
else
{
Vector3 endPoint = (bone.transform.position - bones[GetParentBone(k)].transform.position) + bone.transform.position;
distance = bone.transform.InverseTransformPoint(endPoint)[direction];
if (bone.transform.GetComponentsInChildren(typeof(Transform)).Length > 1)
{
Bounds bounds = new Bounds();
foreach (Transform child in bone.transform.GetComponentsInChildren(typeof(Transform)))
{
bounds.Encapsulate(bone.transform.InverseTransformPoint(child.position));
}
if (distance > 0)
{
distance = bounds.max[direction];
}
else
{
distance = bounds.min[direction];
}
}
}
CapsuleCollider collider = bone.AddComponent <CapsuleCollider>();
collider.direction = direction;
Vector3 center = Vector3.zero;
center[direction] = distance * 0.5F;
collider.center = center;
collider.height = Mathf.Abs(distance);
bone.collider = collider;
}
}
static void BuildJoints(Dictionary <HumanBodyBones, Ragdoll.Element> bones)
{
foreach (var k in bones.Keys)
{
if (k == HumanBodyBones.Hips)
{
continue;
}
Ragdoll.Element bone = bones[k];
bone.joint = bone.AddComponent <ConfigurableJoint>();
// Setup connection and axis
//bone.joint.autoConfigureConnectedAnchor = false;
// turn off to handle degenerated scenarios, like spawning inside geometry.
bone.joint.enablePreprocessing = false;
bone.joint.anchor = Vector3.zero;
bone.joint.connectedBody = bones[GetParentBone(k)].rigidbody;
// Setup limits
SoftJointLimit limit = new SoftJointLimit();
limit.contactDistance = 0; // default to zero, which automatically sets contact distance.
limit.limit = 0;
bone.joint.lowAngularXLimit = bone.joint.highAngularXLimit = bone.joint.angularYLimit = bone.joint.angularZLimit = limit;
bone.joint.xMotion = bone.joint.yMotion = bone.joint.zMotion = ConfigurableJointMotion.Locked;
bone.joint.angularXMotion = bone.joint.angularYMotion = bone.joint.angularZMotion = ConfigurableJointMotion.Limited;
bone.joint.rotationDriveMode = RotationDriveMode.Slerp;
bone.joint.projectionMode = JointProjectionMode.PositionAndRotation;
}
}
/*
* Set the bone's configurable joint target to the master local rotation
*/
void HandleJointFollow(Ragdoll.Element bone, float torque, int boneIndex)
{
if (!bone.joint)
{
return;
}
//setting joint torque every frame was slow, so check here if its changed
if (torque != lastTorques[boneIndex])
{
lastTorques[boneIndex] = torque;
jointDrive.positionSpring = torque;
bone.joint.slerpDrive = jointDrive;
}
//set joints target rotation
if (torque != 0)
{
Quaternion targetLocalRotation = bone.followTarget.transform.localRotation;
bone.joint.targetRotation = localToJointSpaces[boneIndex] * Quaternion.Inverse(targetLocalRotation) * startLocalRotations[boneIndex];
}
}
/*
* set the velocities we calculated in late update for each animated bone
* on the actual ragdoll
*/
void SetPhysicsVelocities(float deltaTime)
{
float dot = Vector3.Dot(ragdoll.RootBone().transform.up, Vector3.up);
float maxVelocityForGravityAdd2 = profile.maxGravityAddVelocity * profile.maxGravityAddVelocity;
float fallDecayCurveSample = 1f - fallDecay; //set up curves backwards... whoops
// for each physics bone...
for (int i = 0; i < Ragdoll.bonesCount; i++)
{
HumanBodyBones unityBone = Ragdoll.humanBones[i];
Ragdoll.Element bone = ragdoll.GetBone(unityBone);
Vector3 ragdollBoneVelocty = bone.rigidbody.velocity;
// get the manually set bone decay value
float boneDecay = boneDecays[unityBone];
/*
* calculate the force decay based on the overall fall decay and the bone profile's
* fall force decay curve
*/
float forceDecay = Mathf.Clamp01(profile.bones[i].fallForceDecay.Evaluate(fallDecayCurveSample));
//subtract manual decay
forceDecay = Mathf.Clamp01(forceDecay - boneDecay);
// if we're flipped to extremely, stop trying to follow anim
// makes it look like it's 'gliding' forward in superman stance
if (dot < profile.loseFollowDot)
{
forceDecay = 0;
}
// if we're still using some force to follow
if (forceDecay != 0)
{
Vector3 animVelocity = animationVelocityTrackers[i].velocity;
/*
* if animation velocity is below threshold magnitude, add some gravity to it
*/
if (animVelocity.sqrMagnitude < maxVelocityForGravityAdd2)
{
animVelocity.y = Physics.gravity.y * deltaTime;
}
/*
* if bone decay was manually set to make room for external velocities,
* use the most extreme component of each vector as the "target animated" velocity
*/
if (boneDecay != 0)
{
animVelocity = MaxAbs(ragdollBoneVelocty, animVelocity);
}
// set the velocity on the ragdoll rigidbody (based on the force decay)
bone.rigidbody.velocity = Vector3.Lerp(ragdollBoneVelocty, animVelocity, forceDecay);
}
if (i != 0)
{
/*
* calculate the force decay based on the overall fall decay and the bone profile's
* fall force decay curve
*/
float torqueDecay = Mathf.Clamp01(profile.bones[i].fallTorqueDecay.Evaluate(fallDecayCurveSample));
//subtract manual decay
torqueDecay = Mathf.Clamp01(torqueDecay - boneDecay);
/*
* handle joints target for the ragdoll joints
*/
HandleJointFollow(bone, profile.maxTorque * torqueDecay, i);
}
}
CheckForFallEnd(fallDecay);
}
/*
* call to get the ragdoll bone references
*
* animator component must be humanoid
*
* set 'addComponents' to true to add the ragdoll components
*
* if non physics is set to true, we just build the references but dont check for (or add)
* Rigidbodies, joints, and colliders...
*/
//public static bool BuildRagdoll (Animator animator, RagdollProfile profile, bool addComponents, bool nonPhysics, out float initialHeadOffsetFromChest, out Ragdoll.Element[] allBones, out Dictionary<HumanBodyBones, Ragdoll.Element> physicsBones) {
public static bool BuildRagdollElements(Animator animator, out Ragdoll.Element[] allElements, out Dictionary <HumanBodyBones, Ragdoll.Element> boneElements)
{
// initialHeadOffsetFromChest = -1;
allElements = null;
boneElements = null;
//check for null animator
if (animator == null)
{
Debug.LogError("No animator found...(BuildRagdollFromPrebuilt");
return(false);// null;
}
List <Ragdoll.Element> allBonesList = new List <Ragdoll.Element>();
// instance ids of the bone transforms so we dont re-add them when checking all children bones below
HashSet <int> usedPhysicsTransforms = new HashSet <int>();
//build bones list that use physics
boneElements = new Dictionary <HumanBodyBones, Ragdoll.Element>();
for (int i = 0; i < Ragdoll.bonesCount; i++)
{
HumanBodyBones humanBodyBone = Ragdoll.humanBones[i];
Transform boneT = animator.GetBoneTransform(humanBodyBone);
if (boneT == null)
{
Debug.LogError("Cant find physics bone: " + humanBodyBone + " on ragdoll: " + animator.name);
boneElements = null;
usedPhysicsTransforms = null;
return(false);
}
usedPhysicsTransforms.Add(boneT.GetInstanceID());
Ragdoll.Element ragdollBone = new Ragdoll.Element(boneT, false, true, i == 0);
boneElements.Add(humanBodyBone, ragdollBone);
allBonesList.Add(ragdollBone);
}
//build other non physics bones
//get all transform children of the hip bone
Transform[] allChildren = allBonesList[0].transform.GetComponentsInChildren <Transform>();
for (int i = 0; i < allChildren.Length; i++)
{
Transform child = allChildren[i];
//if its not a physics bone
if (!usedPhysicsTransforms.Contains(child.GetInstanceID()))
{
bool isPhysicsParent = child.GetComponentInChildren <Rigidbody>() != null;
allBonesList.Add(new Ragdoll.Element(child, isPhysicsParent, false, false));
}
}
allElements = allBonesList.ToArray();
// if (!nonPhysics) {
// if (addComponents) {
// EraseRagdoll(animator);
// //add capsules
// BuildCapsules(physicsBones);
// AddBreastColliders(physicsBones);
// AddHeadCollider(physicsBones);
// //add rigidbodies
// BuildRigidodies(physicsBones);
// //add joints
// BuildJoints(physicsBones);
// //add bone components
// BuildBones(physicsBones);
// }
// //initial head position from chest (used for resizing chest collider based on head offset)
// initialHeadOffsetFromChest = physicsBones[HumanBodyBones.Chest].transform.InverseTransformPoint(physicsBones[HumanBodyBones.Head].transform.position).y;
// // update the ragdoll to reflect it's profile values
// Ragdoll.UpdateBonesToProfileValues(physicsBones, profile, initialHeadOffsetFromChest);
// }
return(true);
}
