void ResetCan(TinCan can)
{
can.position = new Vector3(Random.Range(0f, ArmManager.armRowWidth + 10f), Random.Range(3f, 8f), 15f);
can.rotation = Quaternion.identity;
can.scale = 0f;
matrices[can.index] = Matrix4x4.TRS(can.position, can.rotation, canSize);
}
public static void HitCan(TinCan can, Vector3 velocity)
{
instance.sittingCans.Remove(can);
instance.fallingCans.Add(can);
can.velocity = velocity;
can.angularVelocity = Random.onUnitSphere * velocity.magnitude * 40f;
}
void Update()
{
for (int i = 0; i < rockCount; i++)
{
Rock rock = allRocks[i];
// cheesy and fps-dependent
rock.size += (rock.targetSize - rock.size) * 3f * Time.deltaTime;
if (rock.state == Rock.State.Conveyor)
{
rock.position.x += conveyorSpeed * Time.deltaTime;
if (rock.position.x > maxConveyorX)
{
rock.position.x -= ArmManager.armRowWidth + conveyorMargin * 2f;
rock.size = 0f;
}
}
else if (rock.state == Rock.State.Thrown)
{
rock.position += rock.velocity * Time.deltaTime;
rock.velocity += Vector3.up * -gravityStrength * Time.deltaTime;
TinCan nearestCan = TinCanManager.GetNearestCan(rock.position, false);
if (nearestCan != null)
{
if ((nearestCan.position - rock.position).sqrMagnitude < .5f * .5f)
{
TinCanManager.HitCan(nearestCan, rock.velocity);
rock.velocity = Random.insideUnitSphere * 3f;
}
}
if (rock.position.y < -5f)
{
rock.state = Rock.State.Conveyor;
conveyorRocks.Add(rock);
rock.position = new Vector3(Random.Range(minConveyorX, maxConveyorX), 0f, 1.5f);
rock.size = 0f;
}
}
Matrix4x4 matrix = matrices[i];
matrix.m03 = rock.position.x;
matrix.m13 = rock.position.y;
matrix.m23 = rock.position.z;
matrix.m00 = rock.size;
matrix.m11 = rock.size;
matrix.m22 = rock.size;
matrices[i] = matrix;
}
Graphics.DrawMeshInstanced(rockMesh, 0, rockMaterial, matrices);
}
Vector3 AimAtCan(TinCan can, Vector3 startPos)
{
// predictive aiming based on this article by Kain Shin:
// https://www.gamasutra.com/blogs/KainShin/20090515/83954/Predictive_Aim_Mathematics_for_AI_Targeting.php
float targetSpeed = can.velocity.magnitude;
float cosTheta = Vector3.Dot((startPos - can.position).normalized, can.velocity.normalized);
float D = (can.position - startPos).magnitude;
// quadratic equation terms
float A = baseThrowSpeed * baseThrowSpeed - targetSpeed * targetSpeed;
float B = (2f * D * targetSpeed * cosTheta);
float C = -D * D;
if (B * B < 4f * A * C)
{
// it's impossible to hit the target
return(Vector3.forward * 10f + Vector3.up * 8f);
}
// quadratic equation has two possible outputs
float t1 = (-B + Mathf.Sqrt(B * B - 4f * A * C)) / (2f * A);
float t2 = (-B - Mathf.Sqrt(B * B - 4f * A * C)) / (2f * A);
// our two t values represent two possible trajectory durations.
// pick the best one - whichever is lower, as long as it's positive
float t;
if (t1 < 0f && t2 < 0f)
{
// both potential collisions take place in the past!
return(Vector3.forward * 10f + Vector3.up * 8f);
}
else if (t1 < 0f && t2 > 0f)
{
t = t2;
}
else if (t1 > 0f && t2 < 0f)
{
t = t1;
}
else
{
t = Mathf.Min(t1, t2);
}
Vector3 output = can.velocity - .5f * new Vector3(0f, -RockManager.instance.gravityStrength, 0f) * t + (can.position - startPos) / t;
if (output.magnitude > baseThrowSpeed * 2f)
{
// the required throw is too serious for us to handle
return(Vector3.forward * 10f + Vector3.up * 8f);
}
return(output);
}
void Start()
{
instance = this;
sittingCans = new List <TinCan>(canCount);
fallingCans = new List <TinCan>(canCount);
matrices = new Matrix4x4[canCount];
for (int i = 0; i < canCount; i++)
{
TinCan can = new TinCan();
can.index = i;
ResetCan(can);
sittingCans.Add(can);
}
}
void Update()
{
for (int i = 0; i < fallingCans.Count; i++)
{
TinCan can = fallingCans[i];
can.position += can.velocity * Time.deltaTime;
can.velocity += new Vector3(0f, -gravityStrength * Time.deltaTime, 0f);
can.rotation = Quaternion.AngleAxis(can.angularVelocity.magnitude * Time.deltaTime, can.angularVelocity) * can.rotation;
matrices[can.index] = Matrix4x4.TRS(can.position, can.rotation, canSize);
if (can.position.y < -5f)
{
fallingCans.RemoveAt(i);
i--;
sittingCans.Add(can);
ResetCan(can);
}
}
for (int i = 0; i < sittingCans.Count; i++)
{
TinCan can = sittingCans[i];
// cheesy and fps-dependent
can.scale += (1f - can.scale) * 3f * Time.deltaTime;
can.velocity = -Vector3.right * 3f;
can.position += can.velocity * Time.deltaTime;
if (can.position.x < 0f && can.reserved == false)
{
can.position.x = ArmManager.armRowWidth + 10f;
can.scale = 0f;
}
matrices[can.index].m03 = can.position.x;
matrices[can.index].m13 = can.position.y;
matrices[can.index].m23 = can.position.z;
matrices[can.index].m00 = canSize.x * can.scale;
matrices[can.index].m11 = canSize.y * can.scale;
matrices[can.index].m22 = canSize.z * can.scale;
}
Graphics.DrawMeshInstanced(canMesh, 0, canMaterial, matrices);
}
public static TinCan GetNearestCan(Vector3 pos, bool skipReservedCans = true, float xRange = float.MaxValue)
{
float minDist = float.MaxValue;
TinCan output = null;
for (int i = 0; i < instance.sittingCans.Count; i++)
{
float xDelta = Mathf.Abs(pos.x - instance.sittingCans[i].position.x);
if (xDelta < xRange)
{
if (instance.sittingCans[i].reserved == false || skipReservedCans == false)
{
Vector3 delta = instance.sittingCans[i].position - pos;
float sqrDist = delta.sqrMagnitude;
if (sqrDist < minDist)
{
minDist = sqrDist;
output = instance.sittingCans[i];
}
}
}
}
return(output);
}
IEnumerator UnreserveCoroutine(TinCan can, float delay)
{
yield return(new WaitForSeconds(delay));
can.reserved = false;
}
public static void UnreserveCanAfterDelay(TinCan can, float delay)
{
instance.StartCoroutine(instance.UnreserveCoroutine(can, delay));
}
void Update()
{
float time = Time.time + timeOffset;
// resting position
Vector3 idleHandTarget = transform.position + new Vector3(Mathf.Sin(time) * .35f, 1f + Mathf.Cos(time * 1.618f) * .5f, 1.5f);
if (heldRock == null && windupTimer <= 0f)
{
if (intendedRock == null && reachTimer == 0f)
{
// we're idle - see if we can grab a rock
Rock nearestRock = RockManager.NearestConveyorRock(transform.position - Vector3.right * .5f);
if (nearestRock != null)
{
if ((nearestRock.position - transform.position).sqrMagnitude < maxReachLength * maxReachLength)
{
// found a rock to grab!
// mark it as reserved so other hands don't reach for it
intendedRock = nearestRock;
intendedRock.reserved = true;
lastIntendedRockSize = intendedRock.size;
}
}
}
else if (intendedRock == null)
{
// stop reaching if we've lost our target
reachTimer -= Time.deltaTime / reachDuration;
}
if (intendedRock != null)
{
// we're reaching for a rock (but we haven't grabbed it yet)
Vector3 delta = intendedRock.position - transform.position;
if (delta.sqrMagnitude < maxReachLength * maxReachLength)
{
// figure out where we want to put our wrist
// in order to grab the rock
Vector3 flatDelta = delta;
flatDelta.y = 0f;
flatDelta.Normalize();
grabHandTarget = intendedRock.position + Vector3.up * intendedRock.size * .5f - flatDelta * intendedRock.size * .5f;
lastIntendedRockPos = intendedRock.position;
reachTimer += Time.deltaTime / reachDuration;
if (reachTimer >= 1f)
{
// we've arrived at the rock - pick it up
heldRock = intendedRock;
RockManager.RemoveFromConveyor(heldRock);
heldRock.state = Rock.State.Held;
// remember the rock's position in "hand space"
// (so we can position the rock while holding it)
heldRockOffset = handMatrix.inverse.MultiplyPoint3x4(heldRock.position);
intendedRock = null;
// random minimum delay before starting the windup
windupTimer = Random.Range(-1f, 0f);
throwTimer = 0f;
}
}
else
{
// we didn't grab the rock in time - forget it
intendedRock.reserved = false;
intendedRock = null;
}
}
}
if (heldRock != null)
{
// stop reaching after we've successfully grabbed a rock
reachTimer -= Time.deltaTime / reachDuration;
if (targetCan == null)
{
// find a target
targetCan = TinCanManager.GetNearestCan(transform.position, true, targetXRange);
}
if (targetCan != null)
{
// found a target - prepare to throw
targetCan.reserved = true;
windupTimer += Time.deltaTime / windupDuration;
}
}
reachTimer = Mathf.Clamp01(reachTimer);
// smoothed reach timer
float grabT = reachTimer;
grabT = 3f * grabT * grabT - 2f * grabT * grabT * grabT;
// reaching overrides our idle hand position
handTarget = Vector3.Lerp(idleHandTarget, grabHandTarget, grabT);
if (targetCan != null)
{
// we've got a target, which means we're currently throwing
if (windupTimer < 1f)
{
// still winding up...
float windupT = Mathf.Clamp01(windupTimer) - Mathf.Clamp01(throwTimer * 2f);
windupT = 3f * windupT * windupT - 2f * windupT * windupT * windupT;
handTarget = Vector3.Lerp(handTarget, windupHandTarget, windupT);
Vector3 flatTargetDelta = targetCan.position - transform.position;
flatTargetDelta.y = 0f;
flatTargetDelta.Normalize();
// windup position is "behind us," relative to the target position
windupHandTarget = transform.position - flatTargetDelta * 2f + Vector3.up * (3f - windupT * 2.5f);
}
else
{
// done winding up - actual throw, plus resetting to idle
throwTimer += Time.deltaTime / throwDuration;
// update our aim until we release the rock
if (heldRock != null)
{
aimVector = AimAtCan(targetCan, lastIntendedRockPos);
}
// we start this animation in our windup position,
// and end it by returning to our default idle pose
Vector3 restingPos = Vector3.Lerp(windupHandTarget, handTarget, throwTimer);
// find the hand's target position to perform the throw
// (somewhere forward and upward from the windup position)
Vector3 throwHandTarget = windupHandTarget + aimVector.normalized * 2.5f;
handTarget = Vector3.LerpUnclamped(restingPos, throwHandTarget, throwCurve.Evaluate(throwTimer));
if (throwTimer > .15f && heldRock != null)
{
// release the rock
heldRock.reserved = false;
heldRock.state = Rock.State.Thrown;
heldRock.velocity = aimVector;
heldRock = null;
}
if (throwTimer >= 1f)
{
// we've completed the animation - return to idle
windupTimer = 0f;
throwTimer = 0f;
TinCanManager.UnreserveCanAfterDelay(targetCan, 3f);
targetCan = null;
}
}
}
// solve the arm IK chain first
FABRIK.Solve(armChain, armBoneLength, transform.position, handTarget, handUp * armBendStrength);
// figure out our current "hand vectors" from our arm orientation
handForward = (armChain.Last(0) - armChain.Last(1)).normalized;
handUp = Vector3.Cross(handForward, transform.right).normalized;
handRight = Vector3.Cross(handUp, handForward);
// create handspace-to-worldspace matrix
handMatrix = Matrix4x4.TRS(armChain.Last(), Quaternion.LookRotation(handForward, handUp), Vector3.one);
// how much are our fingers gripping?
// (during a reach, this is based on the reach timer)
float fingerGrabT = grabT;
if (heldRock != null)
{
// move our held rock to match our new hand position
heldRock.position = handMatrix.MultiplyPoint3x4(heldRockOffset);
lastIntendedRockPos = heldRock.position;
// if we're holding a rock, we're always gripping
fingerGrabT = 1f;
}
// create rendering matrices for arm bones
UpdateMatrices(armChain, 0, armBoneThickness, handUp);
int matrixIndex = armChain.Length - 1;
// next: fingers
Vector3 handPos = armChain.Last();
// fingers spread out during a throw
float openPalm = throwCurve.Evaluate(throwTimer);
for (int i = 0; i < fingerChains.Length; i++)
{
// find knuckle position for this finger
Vector3 fingerPos = handPos + handRight * (fingerXOffset + i * fingerSpacing);
// find resting position for this fingertip
Vector3 fingerTarget = fingerPos + handForward * (.5f - .1f * fingerGrabT);
// spooky finger wiggling while we're idle
fingerTarget += handUp * Mathf.Sin((time + i * .2f) * 3f) * .2f * (1f - fingerGrabT);
// if we're gripping, move this fingertip onto the surface of our rock
Vector3 rockFingerDelta = fingerTarget - lastIntendedRockPos;
Vector3 rockFingerPos = lastIntendedRockPos + rockFingerDelta.normalized * (lastIntendedRockSize * .5f + fingerThicknesses[i]);
fingerTarget = Vector3.Lerp(fingerTarget, rockFingerPos, fingerGrabT);
// apply finger-spreading during throw animation
fingerTarget += (handUp * .3f + handForward * .1f + handRight * (i - 1.5f) * .1f) * openPalm;
// solve this finger's IK chain
FABRIK.Solve(fingerChains[i], fingerBoneLengths[i], fingerPos, fingerTarget, handUp * fingerBendStrength);
// update this finger's rendering matrices
UpdateMatrices(fingerChains[i], matrixIndex, fingerThicknesses[i], handUp);
matrixIndex += fingerChains[i].Length - 1;
}
// the thumb is pretty much the same as the fingers
// (but pointing in a strange direction)
Vector3 thumbPos = handPos + handRight * thumbXOffset;
Vector3 thumbTarget = thumbPos - handRight * .15f + handForward * (.2f + .1f * fingerGrabT) - handUp * .1f;
thumbTarget += handRight * Mathf.Sin(time * 3f + .5f) * .1f * (1f - fingerGrabT);
// thumb bends away from the palm, instead of "upward" like the fingers
Vector3 thumbBendHint = (-handRight - handForward * .5f);
Vector3 rockThumbDelta = thumbTarget - lastIntendedRockPos;
Vector3 rockThumbPos = lastIntendedRockPos + rockThumbDelta.normalized * (lastIntendedRockSize * .5f);
thumbTarget = Vector3.Lerp(thumbTarget, rockThumbPos, fingerGrabT);
FABRIK.Solve(thumbChain, thumbBoneLength, thumbPos, thumbTarget, thumbBendHint * thumbBendStrength);
UpdateMatrices(thumbChain, matrixIndex, thumbThickness, thumbBendHint);
// draw all of our bones
Graphics.DrawMeshInstanced(boneMesh, 0, material, matrices);
}