public bool Collide(Vector3 boneCenter, float boneRadius, out Vector3 push)
{
switch (Shape)
{
case Type.Sphere:
{
float minScale = VectorUtil.MinComponent(transform.localScale);
return(Collision.SphereSphere(boneCenter, boneRadius, transform.position, minScale * Radius, out push));
}
case Type.Capsule:
{
float minScale = VectorUtil.MinComponent(transform.localScale);
Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up);
Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down);
return(Collision.SphereCapsule(boneCenter, boneRadius, head, tail, minScale * Radius, out push));
}
case Type.Box:
{
Vector3 centerLs = transform.InverseTransformPoint(boneCenter);
Vector3 scaledHalfExtents = 0.5f * VectorUtil.ComponentWiseMult(transform.localScale, Dimensions);
bool collided = Collision.SphereBox(centerLs, boneRadius, scaledHalfExtents, out push);
if (!collided)
{
return(false);
}
push = transform.TransformVector(push);
return(true);
}
// TODO?
/*
* case Type.InverseSphere:
* {
* float minScale = VectorUtil.MinComponent(transform.localScale);
* return Collision.SphereSphereInverse(boneCenter, boneRadius, transform.position, minScale * Radius, out push);
* }
*
* case Type.InverseCapsule:
* {
* float minScale = VectorUtil.MinComponent(transform.localScale);
* Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up);
* Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down);
* return Collision.SphereCapsuleInverse(boneCenter, boneRadius, head, tail, minScale * Radius, out push);
* }
*/
}
push = Vector3.zero;
return(false);
}
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
}
public void DrawGizmos()
{
switch (Shape)
{
case Type.Sphere:
//case Type.InverseSphere: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Sphere)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(Vector3.zero, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(Vector3.zero, scaledRadius);
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Capsule:
//case Type.InverseCapsule: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
float scaledHalfHeight = 0.5f * minScale * Height;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Capsule)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.down, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.down, scaledRadius);
for (int i = 0; i < 4; ++i)
{
float theta = i * MathUtil.HalfPi;
Vector3 offset = new Vector3(scaledRadius * Mathf.Cos(theta), 0.0f, scaledRadius * Mathf.Sin(theta));
Gizmos.DrawLine(offset + scaledHalfHeight * Vector3.up, offset + scaledHalfHeight * Vector3.down);
}
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Box:
//case Type.InverseBox: // TODO?
{
Vector3 scaledDimensions = VectorUtil.ComponentWiseMult(transform.localScale, Dimensions);
Gizmos.matrix = transform.localToWorldMatrix;
if (Shape == Type.Box)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawCube(Vector3.zero, scaledDimensions);
}
Gizmos.color = Color.white;
Gizmos.DrawWireCube(Vector3.zero, scaledDimensions);
Gizmos.matrix = Matrix4x4.identity;
}
break;
}
}