// 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;
}