8 changed files with 1301 additions and 202 deletions
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using System.Collections; |
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using System.Collections.Generic; |
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using UnityEngine; |
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[System.Serializable] |
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public class BodyPart |
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{ |
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[Header("Body Part Info")] [Space(10)] public ConfigurableJoint joint; |
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public Rigidbody rb; |
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[HideInInspector] public Vector3 startingPos; |
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[HideInInspector] public Quaternion startingRot; |
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[HideInInspector] public JointDriveController thisJdController; |
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[Header("Current Joint Settings")] |
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[Space(10)] |
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public Vector3 currentEularJointRotation; |
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[HideInInspector] public float currentStrength; |
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public float currentXNormalizedRot; |
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public float currentYNormalizedRot; |
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public float currentZNormalizedRot; |
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[Header("Other Debug Info")] |
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[Space(10)] |
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public Vector3 currentJointForce; |
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public float currentJointForceSqrMag; |
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public Vector3 currentJointTorque; |
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public float currentJointTorqueSqrMag; |
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public AnimationCurve jointForceCurve = new AnimationCurve(); |
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public AnimationCurve jointTorqueCurve = new AnimationCurve(); |
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/// <summary>
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/// Reset body part to initial configuration.
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/// </summary>
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public void Reset(BodyPart bp) |
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{ |
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bp.rb.transform.position = bp.startingPos; |
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bp.rb.transform.rotation = bp.startingRot; |
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bp.rb.velocity = Vector3.zero; |
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bp.rb.angularVelocity = Vector3.zero; |
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} |
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/// <summary>
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/// Apply torque according to defined goal `x, y, z` angle and force `strength`.
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/// </summary>
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public void SetJointTargetRotation(float x, float y, float z) |
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{ |
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x = (x + 1f) * 0.5f; |
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y = (y + 1f) * 0.5f; |
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z = (z + 1f) * 0.5f; |
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var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x); |
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var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y); |
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var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z); |
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currentXNormalizedRot = |
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Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot); |
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currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot); |
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currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot); |
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joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); |
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currentEularJointRotation = new Vector3(xRot, yRot, zRot); |
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} |
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public void SetJointStrength(float strength) |
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{ |
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var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit; |
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var jd = new JointDrive |
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{ |
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positionSpring = thisJdController.maxJointSpring, |
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positionDamper = thisJdController.jointDampen, |
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maximumForce = rawVal |
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}; |
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joint.slerpDrive = jd; |
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currentStrength = jd.maximumForce; |
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} |
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} |
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public class JointDriveController : MonoBehaviour |
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{ |
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[Header("Joint Drive Settings")] |
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[Space(10)] |
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public float maxJointSpring; |
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public float jointDampen; |
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public float maxJointForceLimit; |
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[HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>(); |
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[HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>(); |
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const float k_MaxAngularVelocity = 50.0f; |
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/// <summary>
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/// Create BodyPart object and add it to dictionary.
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/// </summary>
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public void SetupBodyPart(Transform t) |
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{ |
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var bp = new BodyPart |
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{ |
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rb = t.GetComponent<Rigidbody>(), |
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joint = t.GetComponent<ConfigurableJoint>(), |
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startingPos = t.position, |
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startingRot = t.rotation |
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}; |
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bp.rb.maxAngularVelocity = k_MaxAngularVelocity; |
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if (bp.joint) |
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{ |
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var jd = new JointDrive |
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{ |
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positionSpring = maxJointSpring, |
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positionDamper = jointDampen, |
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maximumForce = maxJointForceLimit |
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}; |
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bp.joint.slerpDrive = jd; |
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} |
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bp.thisJdController = this; |
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bodyPartsDict.Add(t, bp); |
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bodyPartsList.Add(bp); |
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} |
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public void GetCurrentJointForces() |
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{ |
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foreach (var bodyPart in bodyPartsDict.Values) |
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{ |
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if (bodyPart.joint) |
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{ |
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bodyPart.currentJointForce = bodyPart.joint.currentForce; |
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bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude; |
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bodyPart.currentJointTorque = bodyPart.joint.currentTorque; |
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bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude; |
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if (Application.isEditor) |
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{ |
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if (bodyPart.jointForceCurve.length > 1000) |
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{ |
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bodyPart.jointForceCurve = new AnimationCurve(); |
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} |
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if (bodyPart.jointTorqueCurve.length > 1000) |
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{ |
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bodyPart.jointTorqueCurve = new AnimationCurve(); |
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} |
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bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag); |
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bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag); |
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} |
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} |
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} |
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} |
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} |
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@ -1 +1 @@ |
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