private static void CreateLimbJoints(Transform connectedBone, Transform bone1, Transform bone2, Transform bone3, Transform root, Vector3 defaultWorldDirection, JointType jointType, CreateJointParams.Limits limits1, CreateJointParams.Limits limits2, CreateJointParams.Limits limits3)
{
Quaternion bone1DefaultLocalRotation = bone1.localRotation;
bone1.rotation = Quaternion.FromToRotation(bone1.rotation * (bone2.position - bone1.position), defaultWorldDirection) * bone1.rotation;
Vector3 bone1Dir = (bone2.position - bone1.position).normalized;
Vector3 bone2Dir = (bone3.position - bone2.position).normalized;
Vector3 bendPlaneNormal = -Vector3.Cross(bone1Dir, bone2Dir);
float bone2PoseAngleOffset = Vector3.Angle(bone1Dir, bone2Dir);
bool isVertical = Mathf.Abs(Vector3.Dot(bone1Dir, root.up)) > 0.5f;
float verticalAngleOffsetMlp = isVertical? 100f: 1f; // Fixing Mixamo's inverted legs
// Fixing straight limbs
if (bone2PoseAngleOffset < 0.01f * verticalAngleOffsetMlp)
{
if (isVertical)
{
bendPlaneNormal = Vector3.Dot(bone1Dir, root.up) > 0f? root.right: -root.right;
}
else
{
bendPlaneNormal = Vector3.Dot(bone1Dir, root.right) > 0f? root.up: -root.up;
}
//Debug.LogWarning("Limb " + bone1.name + ", " + bone2.name + ", " + bone3.name + " appears to be completely stretched out, Ragdoll Creator can not know how to assign joint limits. Please rotate the elbow/knee bone slightly towards it's natural bending direction.");
}
CreateJoint(new CreateJointParams(
bone1.GetComponent <Rigidbody>(),
connectedBone.GetComponent <Rigidbody>(),
bone2,
bendPlaneNormal,
limits1,
jointType
));
CreateJoint(new CreateJointParams(
bone2.GetComponent <Rigidbody>(),
bone1.GetComponent <Rigidbody>(),
bone3,
bendPlaneNormal,
new CreateJointParams.Limits(limits2.minSwing - bone2PoseAngleOffset, limits2.maxSwing - bone2PoseAngleOffset, limits2.swing2, limits2.twist),
jointType
));
if (bone3.GetComponent <Rigidbody>() != null)
{
CreateJoint(new CreateJointParams(
bone3.GetComponent <Rigidbody>(),
bone2.GetComponent <Rigidbody>(),
null,
bendPlaneNormal,
limits3,
jointType
));
}
bone1.localRotation = bone1DefaultLocalRotation;
}
private static void CreateJoints(BipedRagdollReferences r, Options o)
{
// Torso
if (r.spine == null)
{
o.spine = false;
}
if (r.chest == null)
{
o.chest = false;
}
float spineMinSwing = -30f * o.jointRange;
float spineMaxSwing = 10f * o.jointRange;
float spineSwing2 = 25f * o.jointRange;
float spineTwist = 25f * o.jointRange;
CreateJoint(new CreateJointParams(
r.hips.GetComponent <Rigidbody>(),
null,
(o.spine? r.spine: (o.chest? r.chest: r.head)),
r.root.right,
new CreateJointParams.Limits(0f, 0f, 0f, 0f),
o.joints
));
if (o.spine)
{
CreateJoint(new CreateJointParams(
r.spine.GetComponent <Rigidbody>(),
r.hips.GetComponent <Rigidbody>(),
(o.chest? r.chest: r.head),
r.root.right,
new CreateJointParams.Limits(spineMinSwing, spineMaxSwing, spineSwing2, spineTwist),
o.joints
));
}
if (o.chest)
{
CreateJoint(new CreateJointParams(
r.chest.GetComponent <Rigidbody>(),
(o.spine? r.spine.GetComponent <Rigidbody>(): r.hips.GetComponent <Rigidbody>()),
r.head,
r.root.right,
new CreateJointParams.Limits(spineMinSwing, spineMaxSwing, spineSwing2, spineTwist),
o.joints
));
}
// Head
Transform lastTorsoBone = o.chest? r.chest: (o.spine? r.spine: r.hips);
CreateJoint(new CreateJointParams(
r.head.GetComponent <Rigidbody>(),
lastTorsoBone.GetComponent <Rigidbody>(),
null,
r.root.right,
new CreateJointParams.Limits(-30f, 30f, 30f, 85f),
o.joints
));
// Arms
CreateJointParams.Limits upperArmLimits = new CreateJointParams.Limits(-35f * o.jointRange, 120f * o.jointRange, 85f * o.jointRange, 45 * o.jointRange);
CreateJointParams.Limits lowerArmLimits = new CreateJointParams.Limits(0f, 140f * o.jointRange, 10f * o.jointRange, 45f * o.jointRange);
CreateJointParams.Limits handLimits = new CreateJointParams.Limits(-50f * o.jointRange, 50f * o.jointRange, 50f * o.jointRange, 25f * o.jointRange);
// Left Arm
CreateLimbJoints(
lastTorsoBone,
r.leftUpperArm,
r.leftLowerArm,
r.leftHand,
r.root,
-r.root.right,
o.joints,
upperArmLimits,
lowerArmLimits,
handLimits);
// Right Arm
CreateLimbJoints(
lastTorsoBone,
r.rightUpperArm,
r.rightLowerArm,
r.rightHand,
r.root,
r.root.right,
o.joints,
upperArmLimits,
lowerArmLimits,
handLimits);
// Legs
CreateJointParams.Limits upperLegLimits = new CreateJointParams.Limits(-120f * o.jointRange, 35f * o.jointRange, 85f * o.jointRange, 45 * o.jointRange);
CreateJointParams.Limits lowerLegLimits = new CreateJointParams.Limits(0f, 140f * o.jointRange, 10f * o.jointRange, 45f * o.jointRange);
CreateJointParams.Limits footLimits = new CreateJointParams.Limits(-50f * o.jointRange, 50f * o.jointRange, 50f * o.jointRange, 25f * o.jointRange);
// Left Leg
CreateLimbJoints(
r.hips,
r.leftUpperLeg,
r.leftLowerLeg,
r.leftFoot,
r.root,
-r.root.up,
o.joints,
upperLegLimits,
lowerLegLimits,
footLimits);
// Right Leg
CreateLimbJoints(
r.hips,
r.rightUpperLeg,
r.rightLowerLeg,
r.rightFoot,
r.root,
-r.root.up,
o.joints,
upperLegLimits,
lowerLegLimits,
footLimits);
}
