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
}
void FixedUpdate()
{
float dt = Time.fixedDeltaTime;
Vector3 linearInputVec = Vector3.zero;
if (Input.GetKey(KeyCode.W))
{
linearInputVec += Vector3.forward;
}
if (Input.GetKey(KeyCode.S))
{
linearInputVec += Vector3.back;
}
if (Input.GetKey(KeyCode.A))
{
linearInputVec += Vector3.left;
}
if (Input.GetKey(KeyCode.D))
{
linearInputVec += Vector3.right;
}
if (Input.GetKey(KeyCode.R))
{
linearInputVec += Vector3.up;
}
if (Input.GetKey(KeyCode.F))
{
linearInputVec += Vector3.down;
}
bool linearThrustOn = linearInputVec.sqrMagnitude > MathUtil.Epsilon;
if (linearThrustOn)
{
linearInputVec = linearInputVec.normalized * LinearThrust;
m_linearVelocity += linearInputVec * dt;
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, MaxLinearSpeed);
}
else
{
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, Mathf.Max(0.0f, m_linearVelocity.magnitude - LinearDrag * dt));
}
float speed = m_linearVelocity.magnitude;
float tSpeed = speed * MathUtil.InvSafe(MaxLinearSpeed);
Quaternion tiltRot = Quaternion.identity;
float tHorizontal = 1.0f;
float tHorizontalSpeed = 0.0f;
if (speed > MathUtil.Epsilon)
{
Vector3 flatVel = m_linearVelocity;
flatVel.y = 0.0f;
tHorizontal =
m_linearVelocity.magnitude > 0.01f
? 1.0f - Mathf.Clamp01(Mathf.Abs(m_linearVelocity.y) / m_linearVelocity.magnitude)
: 0.0f;
tHorizontalSpeed = Mathf.Min(1.0f, speed / Mathf.Max(MathUtil.Epsilon, MaxLinearSpeed)) * tHorizontal;
Vector3 tiltAxis = Vector3.Cross(Vector3.up, flatVel).normalized;
float tiltAngle = Tilt * MathUtil.Deg2Rad * tHorizontalSpeed;
tiltRot = QuaternionUtil.AxisAngle(tiltAxis, tiltAngle);
}
float angularInput = 0.0f;
if (Input.GetKey(KeyCode.Q))
{
angularInput -= 1.0f;
}
if (Input.GetKey(KeyCode.E))
{
angularInput += 1.0f;
}
bool largerMaxAngularSpeed = Input.GetKey(KeyCode.LeftControl);
bool angularThurstOn = Mathf.Abs(angularInput) > MathUtil.Epsilon;
if (angularThurstOn)
{
float maxAngularSpeed = MaxAngularSpeed * (largerMaxAngularSpeed ? 2.5f : 1.0f);
angularInput *= AngularThrust * MathUtil.Deg2Rad;
m_angularVelocity += angularInput * dt;
m_angularVelocity = Mathf.Clamp(m_angularVelocity, -maxAngularSpeed * MathUtil.Deg2Rad, maxAngularSpeed * MathUtil.Deg2Rad);
}
else
{
m_angularVelocity -= Mathf.Sign(m_angularVelocity) * Mathf.Min(Mathf.Abs(m_angularVelocity), AngularDrag * MathUtil.Deg2Rad * dt);
}
m_yawAngle += m_angularVelocity * dt;
Quaternion yawRot = QuaternionUtil.AxisAngle(Vector3.up, m_yawAngle);
m_hoverCenter += m_linearVelocity * dt;
m_hoverPhase += Time.deltaTime;
Vector3 hoverVec =
0.05f * Mathf.Sin(1.37f * m_hoverPhase) * Vector3.right
+ 0.05f * Mathf.Sin(1.93f * m_hoverPhase + 1.234f) * Vector3.forward
+ 0.04f * Mathf.Sin(0.97f * m_hoverPhase + 4.321f) * Vector3.up;
hoverVec *= Hover;
Quaternion hoverQuat = Quaternion.FromToRotation(Vector3.up, hoverVec + Vector3.up);
transform.position = m_hoverCenter + hoverVec;
transform.rotation = tiltRot * yawRot * hoverQuat;
if (Motor != null)
{
float motorAngularSpeedDeg = Mathf.Lerp(MotorBaseAngularSpeed, MotorMaxAngularSpeed, tHorizontalSpeed);
m_motorAngle += motorAngularSpeedDeg * MathUtil.Deg2Rad * dt;
Motor.localRotation = QuaternionUtil.AxisAngle(Vector3.up, m_motorAngle - m_yawAngle);
}
if (BubbleEmitter != null)
{
var emission = BubbleEmitter.emission;
emission.rateOverTime = Mathf.Lerp(BubbleBaseEmissionRate, BubbleMaxEmissionRate, tSpeed);
}
if (Eyes != null)
{
m_blinkTimer -= dt;
if (m_blinkTimer <= 0.0f)
{
bool doubleBlink = !m_lastBlinkWasDouble && Random.Range(0.0f, 1.0f) > 0.75f;
m_blinkTimer =
doubleBlink
? 0.2f
: BlinkInterval + Random.Range(1.0f, 2.0f);
m_lastBlinkWasDouble = doubleBlink;
m_eyeScaleSpring.Value.y = 0.0f;
m_eyePositionLsSpring.Value.y -= 0.025f;
}
Eyes.localScale = m_eyeScaleSpring.TrackDampingRatio(m_eyeInitScale, 30.0f, 0.8f, dt);
Eyes.localPosition = m_eyePositionLsSpring.TrackDampingRatio(m_eyeInitPositionLs, 30.0f, 0.8f, dt);
}
}