// for BoingBehavior & BoingReactor public void PrepareExecute(ref Params p, Vector3 position, Quaternion rotation, float scale, bool accumulateEffectors) { PositionTarget = PositionOrigin = position; RotationTarget = RotationOrigin = QuaternionUtil.ToVector4(rotation); if (accumulateEffectors) { // make relative PositionTarget = Vector3.zero; RotationTarget = Vector4.zero; m_numEffectors = 0; m_upWs = p.Bits.IsBitSet(ReactorFlags.GlobalReactionUpVector) ? p.RotationReactionUp : rotation *VectorUtil.NormalizeSafe(p.RotationReactionUp, Vector3.up); m_scale = scale; } else { m_numEffectors = -1; m_upWs = Vector3.zero; } }
public Quaternion TrackDampingRatio(Vector4 targetValueVec, float angularFrequency, float dampingRatio, float deltaTime) { if (angularFrequency < MathUtil.Epsilon) { VelocityVec = QuaternionUtil.ToVector4(Quaternion.identity); return(QuaternionUtil.FromVector4(ValueVec)); } // keep in same hemisphere for shorter track delta if (Vector4.Dot(ValueVec, targetValueVec) < 0.0f) { targetValueVec = -targetValueVec; } Vector4 delta = targetValueVec - ValueVec; float f = 1.0f + 2.0f * deltaTime * dampingRatio * angularFrequency; float oo = angularFrequency * angularFrequency; float hoo = deltaTime * oo; float hhoo = deltaTime * hoo; float detInv = 1.0f / (f + hhoo); Vector4 detX = f * ValueVec + deltaTime * VelocityVec + hhoo * targetValueVec; Vector4 detV = VelocityVec + hoo * delta; VelocityVec = detV * detInv; ValueVec = detX * detInv; if (VelocityVec.magnitude < MathUtil.Epsilon && delta.magnitude < MathUtil.Epsilon) { VelocityVec = Vector4.zero; ValueVec = targetValueVec; } return(QuaternionUtil.FromVector4(ValueVec)); }
public Quaternion TrackExponential(Quaternion targetValue, float halfLife, float deltaTime) { if (halfLife < MathUtil.Epsilon) { VelocityVec = QuaternionUtil.ToVector4(Quaternion.identity); ValueVec = QuaternionUtil.ToVector4(targetValue); return(targetValue); } float angularFrequency = 0.6931472f / halfLife; float dampingRatio = 1.0f; return(TrackDampingRatio(targetValue, angularFrequency, dampingRatio, deltaTime)); }
public Quaternion TrackHalfLife(Quaternion targetValue, float frequencyHz, float halfLife, float deltaTime) { if (halfLife < MathUtil.Epsilon) { VelocityVec = QuaternionUtil.ToVector4(Quaternion.identity); ValueVec = QuaternionUtil.ToVector4(targetValue); return(targetValue); } float angularFrequency = frequencyHz * MathUtil.TwoPi; float dampingRatio = 0.6931472f / (angularFrequency * halfLife); return(TrackDampingRatio(targetValue, angularFrequency, dampingRatio, deltaTime)); }
public void EndAccumulateTargets(ref Params p) { if (m_numEffectors > 0) { PositionTarget *= m_scale / m_numEffectors; PositionTarget += PositionOrigin; RotationTarget /= m_numEffectors; RotationTarget = QuaternionUtil.ToVector4(QuaternionUtil.FromVector4(RotationTarget) * QuaternionUtil.FromVector4(RotationOrigin)); } else { PositionTarget = PositionOrigin; RotationTarget = RotationOrigin; } }
// for BoingReactorFied public void PrepareExecute(ref Params p, Vector3 gridCenter, Quaternion gridRotation, Vector3 cellOffset) { PositionOrigin = gridCenter + cellOffset; RotationOrigin = QuaternionUtil.ToVector4(Quaternion.identity); // make relative PositionTarget = Vector3.zero; RotationTarget = Vector4.zero; m_numEffectors = 0; m_upWs = p.Bits.IsBitSet(ReactorFlags.GlobalReactionUpVector) ? p.RotationReactionUp : gridRotation *VectorUtil.NormalizeSafe(p.RotationReactionUp, Vector3.up); m_scale = 1.0f; }
public void PullResults(BoingBones bones) { for (int iChain = 0; iChain < bones.BoneData.Length; ++iChain) { var chain = bones.BoneChains[iChain]; var aBone = bones.BoneData[iChain]; if (aBone == null) { continue; } // must cache before manipulating bone transforms // otherwise, we'd cache delta propagated down from parent bones foreach (var bone in aBone) { bone.CachedPositionWs = bone.Transform.position; bone.CachedPositionLs = bone.Transform.localPosition; bone.CachedRotationWs = bone.Transform.rotation; bone.CachedRotationLs = bone.Transform.localRotation; } // blend bone position for (int iBone = 0; iBone < aBone.Length; ++iBone) { var bone = aBone[iBone]; // skip fixed root if (iBone == 0 && !chain.LooseRoot) { bone.BlendedPositionWs = bone.CachedPositionWs; continue; } bone.BlendedPositionWs = Vector3.Lerp ( bone.Instance.PositionSpring.Value, bone.CachedPositionWs, bone.AnimationBlend ); } // rotation delta back-propagation if (bones.EnableRotationEffect) { for (int iBone = 0; iBone < aBone.Length; ++iBone) { var bone = aBone[iBone]; // skip fixed root if (iBone == 0 && !chain.LooseRoot) { bone.BlendedRotationWs = bone.CachedRotationWs; continue; } if (bone.ChildIndices == null) { if (bone.ParentIndex >= 0) { var parentBone = aBone[bone.ParentIndex]; bone.BlendedRotationWs = parentBone.BlendedRotationWs * (parentBone.RotationInverseWs * bone.CachedRotationWs); } continue; } Vector3 bonePos = bone.CachedPositionWs; Vector3 boneBlendedPos = bone.BlendedPositionWs; Quaternion boneRot = bone.CachedRotationWs; Quaternion boneRotInv = Quaternion.Inverse(boneRot); Vector4 childRotDeltaPsVecAccumulator = Vector3.zero; float totalWeight = 0.0f; foreach (int iChild in bone.ChildIndices) { var childBone = aBone[iChild]; Vector3 childPos = childBone.CachedPositionWs; Vector3 childPosDelta = childPos - bonePos; Vector3 childPosDeltaDir = VectorUtil.NormalizeSafe(childPosDelta, Vector3.zero); Vector3 childBlendedPos = childBone.BlendedPositionWs; Vector3 childBlendedPosDelta = childBlendedPos - boneBlendedPos; Vector3 childBlendedPosDeltaDir = VectorUtil.NormalizeSafe(childBlendedPosDelta, Vector3.zero); Quaternion childRotDelta = Quaternion.FromToRotation(childPosDeltaDir, childBlendedPosDeltaDir); Quaternion childRotDeltaPs = boneRotInv * childRotDelta; Vector4 childRotDeltaPsVec = QuaternionUtil.ToVector4(childRotDeltaPs); float weight = Mathf.Max(MathUtil.Epsilon, chain.MaxLengthFromRoot - childBone.LengthFromRoot); childRotDeltaPsVecAccumulator += weight * childRotDeltaPsVec; totalWeight += weight; } if (totalWeight > 0.0f) { Vector4 avgChildRotDeltaPsVec = childRotDeltaPsVecAccumulator / totalWeight; bone.RotationBackPropDeltaPs = QuaternionUtil.FromVector4(avgChildRotDeltaPsVec); bone.BlendedRotationWs = (boneRot * bone.RotationBackPropDeltaPs) * boneRot; } else if (bone.ParentIndex >= 0) { var parentBone = aBone[bone.ParentIndex]; bone.BlendedRotationWs = parentBone.BlendedRotationWs * (parentBone.RotationInverseWs * bone.CachedRotationWs); } } } // write blended position & adjusted rotation into final transforms for (int iBone = 0; iBone < aBone.Length; ++iBone) { var bone = aBone[iBone]; // skip fixed root if (iBone == 0 && !chain.LooseRoot) { bone.Instance.PositionSpring.Reset(bone.CachedPositionWs); bone.Instance.RotationSpring.Reset(bone.CachedRotationWs); continue; } bone.Transform.position = bone.BlendedPositionWs; bone.Transform.rotation = bone.BlendedRotationWs; bone.Transform.localScale = bone.BlendedScaleLs; } } }
public void AccumulateTarget(ref Params p, ref BoingEffector.Params effector) { Vector3 effectRefPos = effector.Bits.IsBitSet(BoingWork.EffectorFlags.ContinuousMotion) ? VectorUtil.GetClosestPointOnSegment(PositionOrigin, effector.PrevPosition, effector.CurrPosition) : effector.CurrPosition; Vector3 deltaPos = PositionOrigin - effectRefPos; Vector3 deltaPos3D = deltaPos; if (p.Bits.IsBitSet(ReactorFlags.TwoDDistanceCheck)) { switch (p.TwoDPlane) { case TwoDPlaneEnum.XY: deltaPos.z = 0.0f; break; case TwoDPlaneEnum.XZ: deltaPos.y = 0.0f; break; case TwoDPlaneEnum.YZ: deltaPos.x = 0.0f; break; } } bool inRange = Mathf.Abs(deltaPos.x) <= effector.Radius && Mathf.Abs(deltaPos.y) <= effector.Radius && Mathf.Abs(deltaPos.z) <= effector.Radius && deltaPos.sqrMagnitude <= effector.Radius * effector.Radius; if (!inRange) { return; } float deltaDist = deltaPos.magnitude; float tDeltaDist = effector.Radius - effector.FullEffectRadius > MathUtil.Epsilon ? 1.0f - Mathf.Clamp01((deltaDist - effector.FullEffectRadius) / (effector.Radius - effector.FullEffectRadius)) : 1.0f; Vector3 upWsPos = m_upWs; Vector3 upWsRot = m_upWs; Vector3 deltaDirPos = VectorUtil.NormalizeSafe(deltaPos3D, m_upWs); Vector3 deltaDirRot = deltaDirPos; if (p.Bits.IsBitSet(ReactorFlags.TwoDPositionInfluence)) { switch (p.TwoDPlane) { case TwoDPlaneEnum.XY: deltaDirPos.z = 0.0f; upWsPos.z = 0.0f; break; case TwoDPlaneEnum.XZ: deltaDirPos.y = 0.0f; upWsPos.y = 0.0f; break; case TwoDPlaneEnum.YZ: deltaDirPos.x = 0.0f; upWsPos.x = 0.0f; break; } if (upWsPos.sqrMagnitude < MathUtil.Epsilon) { switch (p.TwoDPlane) { case TwoDPlaneEnum.XY: upWsPos = Vector3.up; break; case TwoDPlaneEnum.XZ: upWsPos = Vector3.forward; break; case TwoDPlaneEnum.YZ: upWsPos = Vector3.up; break; } } else { upWsPos.Normalize(); } deltaDirPos = VectorUtil.NormalizeSafe(deltaDirPos, upWsPos); } if (p.Bits.IsBitSet(ReactorFlags.TwoDRotationInfluence)) { switch (p.TwoDPlane) { case TwoDPlaneEnum.XY: deltaDirRot.z = 0.0f; upWsRot.z = 0.0f; break; case TwoDPlaneEnum.XZ: deltaDirRot.y = 0.0f; upWsRot.y = 0.0f; break; case TwoDPlaneEnum.YZ: deltaDirRot.x = 0.0f; upWsRot.x = 0.0f; break; } if (upWsRot.sqrMagnitude < MathUtil.Epsilon) { switch (p.TwoDPlane) { case TwoDPlaneEnum.XY: upWsRot = Vector3.up; break; case TwoDPlaneEnum.XZ: upWsRot = Vector3.forward; break; case TwoDPlaneEnum.YZ: upWsRot = Vector3.up; break; } } else { upWsRot.Normalize(); } deltaDirRot = VectorUtil.NormalizeSafe(deltaDirRot, upWsRot); } if (p.Bits.IsBitSet(ReactorFlags.EnablePositionEffect)) { Vector3 moveVec = tDeltaDist * p.MoveReactionMultiplier * effector.MoveDistance * deltaDirPos; PositionTarget += moveVec; PositionSpring.Velocity += tDeltaDist * p.LinearImpulseMultiplier * effector.LinearImpulse * effector.LinearVelocityDir; } if (p.Bits.IsBitSet(ReactorFlags.EnableRotationEffect)) { Vector3 rotAxis = VectorUtil.NormalizeSafe(Vector3.Cross(upWsRot, deltaDirRot), VectorUtil.FindOrthogonal(upWsRot)); Vector3 rotVec = tDeltaDist * p.RotationReactionMultiplier * effector.RotateAngle * rotAxis; RotationTarget += QuaternionUtil.ToVector4(QuaternionUtil.FromAngularVector(rotVec)); Vector3 angularImpulseDir = VectorUtil.NormalizeSafe(Vector3.Cross(effector.LinearVelocityDir, deltaDirRot - 0.01f * Vector3.up), rotAxis); float angularImpulseMag = tDeltaDist * p.AngularImpulseMultiplier * effector.AngularImpulse; Vector4 angularImpulseDirQuat = QuaternionUtil.ToVector4(QuaternionUtil.FromAngularVector(angularImpulseDir)); RotationSpring.VelocityVec += angularImpulseMag * angularImpulseDirQuat; } ++m_numEffectors; }
public Quaternion TrackDampingRatio(Quaternion targetValue, float angularFrequency, float dampingRatio, float deltaTime) { return(TrackDampingRatio(QuaternionUtil.ToVector4(targetValue), angularFrequency, dampingRatio, deltaTime)); }
public void Reset(Quaternion initValue, Quaternion initVelocity) { ValueVec = QuaternionUtil.ToVector4(initValue); VelocityVec = QuaternionUtil.ToVector4(initVelocity); }
public void Reset(Quaternion initValue) { ValueVec = QuaternionUtil.ToVector4(initValue); VelocityVec = Vector4.zero; }
public void Reset() { ValueVec = QuaternionUtil.ToVector4(Quaternion.identity); VelocityVec = Vector4.zero; }