From 63e2ce1871e5c7d1e5aa353cc33f4a546f8410fe Mon Sep 17 00:00:00 2001 From: Cailean Finn Date: Fri, 12 Apr 2024 13:46:41 +0100 Subject: [PATCH] jointdrive controller added --- Assets/5_Scenes/DreconDemo.unity | 6 +- .../Camera Mound-Top.asset | 14 +- Assets/8_Scripts/2_General/Body.cs | 40 + .../2_General/JointDriveController.cs | 152 ++ .../2_General/JointDriveController.cs.meta | 11 + ...el_Loose_Joints.prefab => SMPLXcfj.prefab} | 1276 ++++++++++++++--- ...oints.prefab.meta => SMPLXcfj.prefab.meta} | 2 +- .../ML-Agents/Timers/DreconDemo_timers.json | 2 +- 8 files changed, 1301 insertions(+), 202 deletions(-) create mode 100644 Assets/8_Scripts/2_General/JointDriveController.cs create mode 100644 Assets/8_Scripts/2_General/JointDriveController.cs.meta rename Assets/9_Models/Humanoid/SMPLX/{SMLPXModel_Loose_Joints.prefab => SMPLXcfj.prefab} (65%) rename Assets/9_Models/Humanoid/SMPLX/{SMLPXModel_Loose_Joints.prefab.meta => SMPLXcfj.prefab.meta} (74%) diff --git a/Assets/5_Scenes/DreconDemo.unity b/Assets/5_Scenes/DreconDemo.unity index fe4877a..1a3ae6e 100644 --- a/Assets/5_Scenes/DreconDemo.unity +++ b/Assets/5_Scenes/DreconDemo.unity @@ -1380,7 +1380,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: eb69c2a4007c792419505438a2761ba7, type: 3} m_Name: m_EditorClassIdentifier: - m_Rigidbody: {fileID: 6293844864974396996, guid: 49035d8f1718d354cac6d547795a0cb4, + m_Rigidbody: {fileID: 6293844864974396996, guid: 7fe3405e35529f240b5beac3990ab3d3, type: 3} m_SpawnTime: 0.2 m_DefaultPoolCapacity: 25 @@ -1761,7 +1761,7 @@ Transform: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 882491594} serializedVersion: 2 - m_LocalRotation: {x: 0.52918464, y: 0.000000026320038, z: -0.000000016414909, w: 0.8485067} + m_LocalRotation: {x: 0.52918464, y: -0.000000026320045, z: 0.000000016414912, w: 0.8485067} m_LocalPosition: {x: 18.113062, y: 9.285504, z: -0.5535152} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 @@ -3816,7 +3816,7 @@ Transform: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1955078056} serializedVersion: 2 - m_LocalRotation: {x: -0.0000005639385, y: 0.7132504, z: -0.7009093, w: -0.0000005738679} + m_LocalRotation: {x: 0.000000563939, y: 0.7132504, z: -0.7009093, w: 0.0000005738685} m_LocalPosition: {x: 18.113062, y: 10.981609, z: -0.6314695} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 diff --git a/Assets/5_Scenes/DreconDemo_Profiles/Camera Mound-Top.asset b/Assets/5_Scenes/DreconDemo_Profiles/Camera Mound-Top.asset index cdab26b..142d910 100644 --- a/Assets/5_Scenes/DreconDemo_Profiles/Camera Mound-Top.asset +++ b/Assets/5_Scenes/DreconDemo_Profiles/Camera Mound-Top.asset @@ -30,7 +30,7 @@ MonoBehaviour: active: 1 quality: m_OverrideState: 1 - m_Value: 0 + m_Value: 1 focusMode: m_OverrideState: 1 m_Value: 2 @@ -54,22 +54,22 @@ MonoBehaviour: m_Value: 2.5 m_NearSampleCount: m_OverrideState: 1 - m_Value: 3 + m_Value: 5 m_NearMaxBlur: m_OverrideState: 1 - m_Value: 2 + m_Value: 4 m_FarSampleCount: m_OverrideState: 1 - m_Value: 4 + m_Value: 7 m_FarMaxBlur: m_OverrideState: 1 - m_Value: 5 + m_Value: 8 m_Resolution: m_OverrideState: 1 - m_Value: 4 + m_Value: 2 m_HighQualityFiltering: m_OverrideState: 1 - m_Value: 0 + m_Value: 1 m_PhysicallyBased: m_OverrideState: 1 m_Value: 0 diff --git a/Assets/8_Scripts/2_General/Body.cs b/Assets/8_Scripts/2_General/Body.cs index 424d606..acf9e9b 100644 --- a/Assets/8_Scripts/2_General/Body.cs +++ b/Assets/8_Scripts/2_General/Body.cs @@ -9,8 +9,48 @@ public class Body : MonoBehaviour public Transform m_Pelvis; public int m_DespawnTimer; + public bool m_JDActive; + + [Header("Body Parts")] + public Transform m_Head; + public Transform m_Spine; + public Transform m_Left_Thigh; + public Transform m_Left_Leg; + public Transform m_Left_Foot; + public Transform m_Right_Thigh; + public Transform m_Right_Leg; + public Transform m_Right_Foot; + public Transform m_Left_Arm; + public Transform m_Left_Forearm; + public Transform m_Right_Arm; + public Transform m_Right_Forearm; + + + private JointDriveController m_JDController; + private void OnEnable() { + if(m_JDController == null && m_JDActive) { + m_JDController = this.GetComponent(); + + m_JDController.SetupBodyPart(m_Head); + m_JDController.SetupBodyPart(m_Spine); + + m_JDController.SetupBodyPart(m_Left_Thigh); + m_JDController.SetupBodyPart(m_Left_Leg); + m_JDController.SetupBodyPart(m_Left_Foot); + + m_JDController.SetupBodyPart(m_Right_Thigh); + m_JDController.SetupBodyPart(m_Right_Leg); + m_JDController.SetupBodyPart(m_Right_Foot); + + m_JDController.SetupBodyPart(m_Left_Arm); + m_JDController.SetupBodyPart(m_Left_Forearm); + + m_JDController.SetupBodyPart(m_Right_Arm); + m_JDController.SetupBodyPart(m_Right_Forearm); + } + StartCoroutine(DespawnTimer()); } diff --git a/Assets/8_Scripts/2_General/JointDriveController.cs b/Assets/8_Scripts/2_General/JointDriveController.cs new file mode 100644 index 0000000..57d28db --- /dev/null +++ b/Assets/8_Scripts/2_General/JointDriveController.cs @@ -0,0 +1,152 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + + [System.Serializable] + public class BodyPart + { + [Header("Body Part Info")] [Space(10)] public ConfigurableJoint joint; + public Rigidbody rb; + [HideInInspector] public Vector3 startingPos; + [HideInInspector] public Quaternion startingRot; + [HideInInspector] public JointDriveController thisJdController; + + [Header("Current Joint Settings")] + [Space(10)] + public Vector3 currentEularJointRotation; + + [HideInInspector] public float currentStrength; + public float currentXNormalizedRot; + public float currentYNormalizedRot; + public float currentZNormalizedRot; + + [Header("Other Debug Info")] + [Space(10)] + public Vector3 currentJointForce; + + public float currentJointForceSqrMag; + public Vector3 currentJointTorque; + public float currentJointTorqueSqrMag; + public AnimationCurve jointForceCurve = new AnimationCurve(); + public AnimationCurve jointTorqueCurve = new AnimationCurve(); + + /// + /// Reset body part to initial configuration. + /// + public void Reset(BodyPart bp) + { + bp.rb.transform.position = bp.startingPos; + bp.rb.transform.rotation = bp.startingRot; + bp.rb.velocity = Vector3.zero; + bp.rb.angularVelocity = Vector3.zero; + } + + /// + /// Apply torque according to defined goal `x, y, z` angle and force `strength`. + /// + public void SetJointTargetRotation(float x, float y, float z) + { + x = (x + 1f) * 0.5f; + y = (y + 1f) * 0.5f; + z = (z + 1f) * 0.5f; + + var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x); + var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y); + var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z); + + currentXNormalizedRot = + Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot); + currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot); + currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot); + + joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); + currentEularJointRotation = new Vector3(xRot, yRot, zRot); + } + + public void SetJointStrength(float strength) + { + var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit; + var jd = new JointDrive + { + positionSpring = thisJdController.maxJointSpring, + positionDamper = thisJdController.jointDampen, + maximumForce = rawVal + }; + joint.slerpDrive = jd; + currentStrength = jd.maximumForce; + } + } + + public class JointDriveController : MonoBehaviour + { + [Header("Joint Drive Settings")] + [Space(10)] + public float maxJointSpring; + + public float jointDampen; + public float maxJointForceLimit; + + [HideInInspector] public Dictionary bodyPartsDict = new Dictionary(); + + [HideInInspector] public List bodyPartsList = new List(); + const float k_MaxAngularVelocity = 50.0f; + + /// + /// Create BodyPart object and add it to dictionary. + /// + public void SetupBodyPart(Transform t) + { + var bp = new BodyPart + { + rb = t.GetComponent(), + joint = t.GetComponent(), + startingPos = t.position, + startingRot = t.rotation + }; + bp.rb.maxAngularVelocity = k_MaxAngularVelocity; + + if (bp.joint) + { + var jd = new JointDrive + { + positionSpring = maxJointSpring, + positionDamper = jointDampen, + maximumForce = maxJointForceLimit + }; + bp.joint.slerpDrive = jd; + } + + bp.thisJdController = this; + bodyPartsDict.Add(t, bp); + bodyPartsList.Add(bp); + } + + public void GetCurrentJointForces() + { + foreach (var bodyPart in bodyPartsDict.Values) + { + if (bodyPart.joint) + { + bodyPart.currentJointForce = bodyPart.joint.currentForce; + bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude; + bodyPart.currentJointTorque = bodyPart.joint.currentTorque; + bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude; + if (Application.isEditor) + { + if (bodyPart.jointForceCurve.length > 1000) + { + bodyPart.jointForceCurve = new AnimationCurve(); + } + + if (bodyPart.jointTorqueCurve.length > 1000) + { + bodyPart.jointTorqueCurve = new AnimationCurve(); + } + + bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag); + bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag); + } + } + } + } + } diff --git a/Assets/8_Scripts/2_General/JointDriveController.cs.meta b/Assets/8_Scripts/2_General/JointDriveController.cs.meta new file mode 100644 index 0000000..52ce475 --- /dev/null +++ b/Assets/8_Scripts/2_General/JointDriveController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e109baaf62426244eb24aec54decdf71 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab b/Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab similarity index 65% rename from Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab rename to Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab index c9d23db..42f2830 100644 --- a/Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab +++ b/Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab @@ -75,7 +75,7 @@ GameObject: - component: {fileID: 2349737438341603930} - component: {fileID: 8608643442074244007} - component: {fileID: 5779414777730544932} - - component: {fileID: 4531014026059542562} + - component: {fileID: 8074893084302599212} m_Layer: 8 m_Name: m_avg_R_Knee m_TagString: Untagged @@ -118,10 +118,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.001205378 - m_Height: 0.004821512 + m_Radius: 0.00060938357 + m_Height: 0.0042493567 m_Direction: 1 - m_Center: {x: 0, y: -0.002410756, z: 0} + m_Center: {x: 2.9802322e-10, y: -0.0021246783, z: -0.00033375685} --- !u!54 &5779414777730544932 Rigidbody: m_ObjectHideFlags: 0 @@ -149,8 +149,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &4531014026059542562 -CharacterJoint: +--- !u!153 &8074893084302599212 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -162,37 +162,93 @@ CharacterJoint: m_Axis: {x: 1, y: 0, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: 1} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 0 + m_AngularZMotion: 0 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -80 + m_LinearLimit: + limit: 0 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -140 + bounciness: 0 + contactDistance: 0 + m_HighAngularXLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: + m_AngularYLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &1258717435906960014 @@ -269,8 +325,9 @@ GameObject: m_Component: - component: {fileID: 725708368551456178} - component: {fileID: 6293844864974396996} + - component: {fileID: 4008916333058776879} m_Layer: 8 - m_Name: SMLPXModel_Loose_Joints + m_Name: SMPLXcfj m_TagString: Untagged m_Icon: {fileID: 0} m_NavMeshLayer: 0 @@ -306,7 +363,36 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_Pelvis: {fileID: 4895783841800412640} - m_DespawnTimer: 5 + m_DespawnTimer: 45 + m_JDActive: 0 + m_Head: {fileID: 3084171519954960708} + m_Spine: {fileID: 9008230995607606429} + m_Left_Thigh: {fileID: 6147050757370940292} + m_Left_Leg: {fileID: 5725708627616727292} + m_Left_Foot: {fileID: 5219304553590207711} + m_Right_Thigh: {fileID: 8574904068998792924} + m_Right_Leg: {fileID: 2349737438341603930} + m_Right_Foot: {fileID: 6472073811024252503} + m_Left_Arm: {fileID: 6696954352177602454} + m_Left_Forearm: {fileID: 7447345369338858421} + m_Right_Arm: {fileID: 3430350035868801998} + m_Right_Forearm: {fileID: 1751176754825644261} +--- !u!114 &4008916333058776879 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 1770780657798152667} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: e109baaf62426244eb24aec54decdf71, type: 3} + m_Name: + m_EditorClassIdentifier: + maxJointSpring: 0 + jointDampen: 40000 + maxJointForceLimit: 3.402823e+38 + bodyPartsList: [] --- !u!1 &2317700900345097672 GameObject: m_ObjectHideFlags: 0 @@ -318,7 +404,7 @@ GameObject: - component: {fileID: 1751176754825644261} - component: {fileID: 2296520526387657909} - component: {fileID: 4780858546646163507} - - component: {fileID: 6594493312919754251} + - component: {fileID: 1045394161818969005} m_Layer: 8 m_Name: m_avg_R_Elbow m_TagString: Untagged @@ -361,10 +447,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.00071572425 - m_Height: 0.0035786212 + m_Radius: 0.00035812854 + m_Height: 0.002911107 m_Direction: 0 - m_Center: {x: 0.0017893106, y: 0, z: 0} + m_Center: {x: 0.0014555535, y: 0.000047678946, z: 0} --- !u!54 &4780858546646163507 Rigidbody: m_ObjectHideFlags: 0 @@ -392,8 +478,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &6594493312919754251 -CharacterJoint: +--- !u!153 &1045394161818969005 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -402,40 +488,96 @@ CharacterJoint: m_ConnectedBody: {fileID: 1971607919947363082} m_ConnectedArticulationBody: {fileID: 0} m_Anchor: {x: 0, y: 0, z: 0} - m_Axis: {x: 0, y: 0, z: 1} + m_Axis: {x: 0, y: -1, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 1, z: 0} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 0 + m_AngularZMotion: 0 + m_LinearLimitSpring: + spring: 0 + damper: 0 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: + m_LowAngularXLimit: limit: -90 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 0 + m_HighAngularXLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: + m_AngularYLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 40000 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &2509822401853330051 @@ -512,7 +654,7 @@ GameObject: - component: {fileID: 6147050757370940292} - component: {fileID: 6047481721412739124} - component: {fileID: 958894058804254088} - - component: {fileID: 6881410035351102794} + - component: {fileID: 7347202167720457238} m_Layer: 8 m_Name: m_avg_L_Hip m_TagString: Untagged @@ -555,10 +697,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.0011594084 - m_Height: 0.0038646944 + m_Radius: 0.0008614891 + m_Height: 0.0038646942 m_Direction: 1 - m_Center: {x: 0, y: -0.0019323472, z: 0} + m_Center: {x: -0.0003694383, y: -0.0019323471, z: 0.00007151932} --- !u!54 &958894058804254088 Rigidbody: m_ObjectHideFlags: 0 @@ -586,8 +728,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 0 ---- !u!144 &6881410035351102794 -CharacterJoint: +--- !u!153 &7347202167720457238 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -599,37 +741,93 @@ CharacterJoint: m_Axis: {x: 1, y: 0, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: -0.00058581354, y: -0.00082280114, z: -0.00017664084} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: 1} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 0 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -20 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -25 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 70 + m_HighAngularXLimit: + limit: 55 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 30 + m_AngularYLimit: + limit: 9 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &3916544241498666075 @@ -727,7 +925,7 @@ GameObject: - component: {fileID: 9008230995607606429} - component: {fileID: 684823703737173087} - component: {fileID: 4975426484968991098} - - component: {fileID: 6148005760040749047} + - component: {fileID: 894923098389302695} m_Layer: 8 m_Name: m_avg_Spine2 m_TagString: Untagged @@ -799,8 +997,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &6148005760040749047 -CharacterJoint: +--- !u!153 &894923098389302695 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -812,37 +1010,93 @@ CharacterJoint: m_Axis: {x: 1, y: 0, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: -1} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 1 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: limit: -20 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: + m_HighAngularXLimit: limit: 20 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 10 + m_AngularYLimit: + limit: 20 bounciness: 0 contactDistance: 0 - m_Swing2Limit: - limit: 0 + m_AngularZLimit: + limit: 15.098871 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &4915893697638550849 @@ -950,7 +1204,7 @@ GameObject: - component: {fileID: 7447345369338858421} - component: {fileID: 4487047334041361207} - component: {fileID: 1494545432384605745} - - component: {fileID: 7432854695056488702} + - component: {fileID: 898768316295647497} m_Layer: 8 m_Name: m_avg_L_Elbow m_TagString: Untagged @@ -993,10 +1247,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.00070479914 - m_Height: 0.0035239956 + m_Radius: 0.00039488077 + m_Height: 0.0029995197 m_Direction: 0 - m_Center: {x: -0.0017619978, y: 0, z: 0} + m_Center: {x: -0.0014997598, y: 0.00009535789, z: 0} --- !u!54 &1494545432384605745 Rigidbody: m_ObjectHideFlags: 0 @@ -1024,8 +1278,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &7432854695056488702 -CharacterJoint: +--- !u!153 &898768316295647497 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -1034,40 +1288,96 @@ CharacterJoint: m_ConnectedBody: {fileID: 3552846380860879215} m_ConnectedArticulationBody: {fileID: 0} m_Anchor: {x: 0, y: 0, z: 0} - m_Axis: {x: 0, y: 0, z: 1} + m_Axis: {x: 0, y: -1, z: 0} m_AutoConfigureConnectedAnchor: 1 - m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 1, z: 0} - m_TwistLimitSpring: + m_ConnectedAnchor: {x: -0.0025533193, y: -0.00015649231, z: -0.00022946484} + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 0 + m_AngularZMotion: 0 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: limit: -90 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 0 + m_HighAngularXLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: + m_AngularYLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 40000 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &6156014076026642562 @@ -1439,7 +1749,7 @@ GameObject: - component: {fileID: 6696954352177602454} - component: {fileID: 5083463928606826055} - component: {fileID: 3552846380860879215} - - component: {fileID: 3800214251609523913} + - component: {fileID: 1034924528896169649} m_Layer: 8 m_Name: m_avg_L_Shoulder m_TagString: Untagged @@ -1482,10 +1792,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.0006383296 - m_Height: 0.0025533184 + m_Radius: 0.0005898678 + m_Height: 0.0026478951 m_Direction: 0 - m_Center: {x: -0.0012766592, y: 0, z: 0} + m_Center: {x: -0.0012293705, y: -0.00012412429, z: 0} --- !u!54 &3552846380860879215 Rigidbody: m_ObjectHideFlags: 0 @@ -1513,8 +1823,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &3800214251609523913 -CharacterJoint: +--- !u!153 &1034924528896169649 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -1523,40 +1833,96 @@ CharacterJoint: m_ConnectedBody: {fileID: 4975426484968991098} m_ConnectedArticulationBody: {fileID: 0} m_Anchor: {x: 0, y: 0, z: 0} - m_Axis: {x: 0, y: 1, z: 0} + m_Axis: {x: 0, y: 0, z: 1} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 1, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 0 + m_LinearLimitSpring: + spring: 0 + damper: 0 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -70 + m_LowAngularXLimit: + limit: -90 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 10 + m_HighAngularXLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 50 + m_AngularYLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 5000 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &7370856735254975954 @@ -1568,6 +1934,9 @@ GameObject: serializedVersion: 6 m_Component: - component: {fileID: 5219304553590207711} + - component: {fileID: 3721580833917248312} + - component: {fileID: 958655647432527522} + - component: {fileID: 7643321658465604468} m_Layer: 8 m_Name: m_avg_L_Ankle m_TagString: Untagged @@ -1591,6 +1960,156 @@ Transform: - {fileID: 8822598865079012791} m_Father: {fileID: 5725708627616727292} m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!65 &3721580833917248312 +BoxCollider: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7370856735254975954} + m_Material: {fileID: 0} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_LayerOverridePriority: 0 + m_IsTrigger: 0 + m_ProvidesContacts: 0 + m_Enabled: 1 + serializedVersion: 3 + m_Size: {x: 0.0009952785, y: 0.0006149435, z: 0.002394407} + m_Center: {x: -0.00022263773, y: -0.00039706766, z: 0.0007054327} +--- !u!54 &958655647432527522 +Rigidbody: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7370856735254975954} + serializedVersion: 4 + m_Mass: 1.5 + m_Drag: 0.05 + m_AngularDrag: 0.05 + m_CenterOfMass: {x: 0, y: 0, z: 0} + m_InertiaTensor: {x: 1, y: 1, z: 1} + m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ImplicitCom: 1 + m_ImplicitTensor: 1 + m_UseGravity: 1 + m_IsKinematic: 0 + m_Interpolate: 0 + m_Constraints: 0 + m_CollisionDetection: 3 +--- !u!153 &7643321658465604468 +ConfigurableJoint: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7370856735254975954} + m_ConnectedBody: {fileID: 7479043455189566497} + m_ConnectedArticulationBody: {fileID: 0} + m_Anchor: {x: 0, y: 0, z: 0} + m_Axis: {x: 1, y: 0, z: 0} + m_AutoConfigureConnectedAnchor: 1 + m_ConnectedAnchor: {x: 0, y: 0, z: 0} + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 1, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 1 + m_LinearLimitSpring: + spring: 0 + damper: 0 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -30 + bounciness: 0 + contactDistance: 0 + m_HighAngularXLimit: + limit: 10 + bounciness: 0 + contactDistance: 0 + m_AngularYZLimitSpring: + spring: 0 + damper: 0 + m_AngularYLimit: + limit: 15 + bounciness: 0 + contactDistance: 0 + m_AngularZLimit: + limit: 5 + bounciness: 0 + contactDistance: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 + m_ProjectionDistance: 0.1 + m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 + m_BreakForce: Infinity + m_BreakTorque: Infinity + m_EnableCollision: 0 + m_EnablePreprocessing: 1 + m_MassScale: 1 + m_ConnectedMassScale: 1 --- !u!1 &7466525941625122228 GameObject: m_ObjectHideFlags: 0 @@ -1602,7 +2121,7 @@ GameObject: - component: {fileID: 3430350035868801998} - component: {fileID: 1965305456792351878} - component: {fileID: 1971607919947363082} - - component: {fileID: 47398644869302000} + - component: {fileID: 1481981387708488344} m_Layer: 8 m_Name: m_avg_R_Shoulder m_TagString: Untagged @@ -1645,10 +2164,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.000650319 - m_Height: 0.002601276 + m_Radius: 0.000625307 + m_Height: 0.0026769382 m_Direction: 0 - m_Center: {x: 0.001300638, y: 0, z: 0} + m_Center: {x: 0.0012628069, y: -0.00015742003, z: 0} --- !u!54 &1971607919947363082 Rigidbody: m_ObjectHideFlags: 0 @@ -1676,8 +2195,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &47398644869302000 -CharacterJoint: +--- !u!153 &1481981387708488344 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -1686,40 +2205,96 @@ CharacterJoint: m_ConnectedBody: {fileID: 4975426484968991098} m_ConnectedArticulationBody: {fileID: 0} m_Anchor: {x: 0, y: 0, z: 0} - m_Axis: {x: 0, y: 1, z: 0} + m_Axis: {x: 0, y: 0, z: 1} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 1, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 0 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -70 + m_LinearLimit: + limit: 0 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 10 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -90 + bounciness: 0 + contactDistance: 0 + m_HighAngularXLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 50 + m_AngularYLimit: + limit: 90 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 5000 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &7727145584925631794 @@ -1733,7 +2308,7 @@ GameObject: - component: {fileID: 8574904068998792924} - component: {fileID: 1037066624660013298} - component: {fileID: 5404087638917693857} - - component: {fileID: 1287866221113018661} + - component: {fileID: 3184286988725722073} m_Layer: 8 m_Name: m_avg_R_Hip m_TagString: Untagged @@ -1776,10 +2351,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.0011510636 - m_Height: 0.0038368786 + m_Radius: 0.0007934669 + m_Height: 0.0038368783 m_Direction: 1 - m_Center: {x: 0, y: -0.0019184393, z: 0} + m_Center: {x: 0.0003575968, y: -0.0019184392, z: 0} --- !u!54 &5404087638917693857 Rigidbody: m_ObjectHideFlags: 0 @@ -1807,8 +2382,8 @@ Rigidbody: m_Interpolate: 1 m_Constraints: 0 m_CollisionDetection: 3 ---- !u!144 &1287866221113018661 -CharacterJoint: +--- !u!153 &3184286988725722073 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -1820,37 +2395,93 @@ CharacterJoint: m_Axis: {x: 1, y: 0, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: 1} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 0 + m_LinearLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -20 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -25 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 70 + m_HighAngularXLimit: + limit: 55 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 30 + m_AngularYLimit: + limit: 9 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + 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&5093095841111599075 +BoxCollider: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7780632811750903321} + m_Material: {fileID: 0} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_LayerOverridePriority: 0 + m_IsTrigger: 0 + m_ProvidesContacts: 0 + m_Enabled: 1 + serializedVersion: 3 + m_Size: {x: 0.0010501696, y: 0.0006149435, z: 0.0023414665} + m_Center: {x: 0.0003003493, y: -0.00039706766, z: 0.0007319036} +--- !u!54 &5676782446556287795 +Rigidbody: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7780632811750903321} + serializedVersion: 4 + m_Mass: 1.5 + m_Drag: 0.05 + m_AngularDrag: 0.05 + m_CenterOfMass: {x: 0, y: 0, z: 0} + m_InertiaTensor: {x: 1, y: 1, z: 1} + m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ImplicitCom: 1 + m_ImplicitTensor: 1 + m_UseGravity: 1 + m_IsKinematic: 0 + m_Interpolate: 0 + m_Constraints: 0 + m_CollisionDetection: 3 +--- !u!153 &2094613627355738704 +ConfigurableJoint: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 7780632811750903321} + m_ConnectedBody: {fileID: 5779414777730544932} + m_ConnectedArticulationBody: {fileID: 0} + m_Anchor: {x: 0, y: 0, z: 0} + m_Axis: {x: 1, y: 0, z: 0} + m_AutoConfigureConnectedAnchor: 1 + m_ConnectedAnchor: {x: 0, y: 0, z: 0} + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 1, z: 0} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 1 + m_LinearLimitSpring: + spring: 0 + damper: 0 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: + spring: 0 + damper: 0 + m_LowAngularXLimit: + limit: -30 + bounciness: 0 + contactDistance: 0 + m_HighAngularXLimit: + limit: 10 + bounciness: 0 + contactDistance: 0 + m_AngularYZLimitSpring: + spring: 0 + damper: 0 + m_AngularYLimit: + limit: 15 + bounciness: 0 + contactDistance: 0 + m_AngularZLimit: + limit: 5 + bounciness: 0 + contactDistance: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 + m_ProjectionDistance: 0.1 + m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 + m_BreakForce: Infinity + m_BreakTorque: Infinity + m_EnableCollision: 0 + m_EnablePreprocessing: 1 + m_MassScale: 1 + m_ConnectedMassScale: 1 --- !u!1 &8096758285659529454 GameObject: m_ObjectHideFlags: 0 @@ -1928,7 +2712,7 @@ GameObject: - component: {fileID: 3084171519954960708} - component: {fileID: 6621003610756086248} - component: {fileID: 8525818638187974980} - - component: {fileID: 8929802388664056413} + - component: {fileID: 1600401382510507451} m_Layer: 8 m_Name: m_avg_Head m_TagString: Untagged @@ -1970,8 +2754,8 @@ SphereCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 3 - m_Radius: 0.001 - m_Center: {x: 0, y: 0, z: 0} + m_Radius: 0.0013575965 + m_Center: {x: 0.000023839473, y: 0.0005483144, z: 0} --- !u!54 &8525818638187974980 Rigidbody: m_ObjectHideFlags: 0 @@ -1980,7 +2764,7 @@ Rigidbody: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 8096758285659529454} serializedVersion: 4 - m_Mass: 1.25 + m_Mass: 5 m_Drag: 0 m_AngularDrag: 0.05 m_CenterOfMass: {x: 0, y: 0, z: 0} @@ -1996,11 +2780,11 @@ Rigidbody: m_ImplicitTensor: 1 m_UseGravity: 1 m_IsKinematic: 0 - m_Interpolate: 0 + m_Interpolate: 1 m_Constraints: 0 - m_CollisionDetection: 0 ---- !u!144 &8929802388664056413 -CharacterJoint: + m_CollisionDetection: 3 +--- !u!153 &1600401382510507451 +ConfigurableJoint: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} @@ -2009,40 +2793,96 @@ CharacterJoint: m_ConnectedBody: {fileID: 4975426484968991098} m_ConnectedArticulationBody: {fileID: 0} m_Anchor: {x: 0, y: 0, z: 0} - m_Axis: {x: 1, y: 0, z: 0} + m_Axis: {x: 0, y: 0, z: 0} m_AutoConfigureConnectedAnchor: 1 m_ConnectedAnchor: {x: 0, y: 0, z: 0} - serializedVersion: 2 - m_SwingAxis: {x: 0, y: 0, z: 1} - m_TwistLimitSpring: + serializedVersion: 3 + m_SecondaryAxis: {x: 0, y: 0, z: -1} + m_XMotion: 0 + m_YMotion: 0 + m_ZMotion: 0 + m_AngularXMotion: 1 + m_AngularYMotion: 1 + m_AngularZMotion: 1 + m_LinearLimitSpring: + spring: 0 + damper: 0 + m_LinearLimit: + limit: 0 + bounciness: 0 + contactDistance: 0 + m_AngularXLimitSpring: spring: 0 damper: 0 - m_LowTwistLimit: - limit: -40 + m_LowAngularXLimit: + limit: -31.522825 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: - limit: 25 + m_HighAngularXLimit: + limit: 27.674957 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: - limit: 25 + m_AngularYLimit: + limit: 47.79868 bounciness: 0 contactDistance: 0 - m_Swing2Limit: - limit: 0 + m_AngularZLimit: + limit: 54.14258 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 40000 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 --- !u!1 &8365940479895538195 @@ -2090,7 +2930,7 @@ GameObject: - component: {fileID: 5725708627616727292} - component: {fileID: 8319005067042079993} - component: {fileID: 7479043455189566497} - - component: {fileID: 6935732032146660818} + - component: {fileID: 7902250824945868534} m_Layer: 8 m_Name: m_avg_L_Knee m_TagString: Untagged @@ -2133,10 +2973,10 @@ CapsuleCollider: m_ProvidesContacts: 0 m_Enabled: 1 serializedVersion: 2 - m_Radius: 0.0012179008 - m_Height: 0.004871603 + m_Radius: 0.00065980485 + m_Height: 0.004284808 m_Direction: 1 - m_Center: {x: 0, y: -0.0024358016, z: 0} + m_Center: {x: 0.000027807131, y: -0.002142404, z: 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spring: 0 damper: 0 - m_LowTwistLimit: - limit: -80 + m_LowAngularXLimit: + limit: -140 bounciness: 0 contactDistance: 0 - m_HighTwistLimit: + m_HighAngularXLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_SwingLimitSpring: + m_AngularYZLimitSpring: spring: 0 damper: 0 - m_Swing1Limit: + m_AngularYLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_Swing2Limit: + m_AngularZLimit: limit: 0 bounciness: 0 contactDistance: 0 - m_EnableProjection: 0 + m_TargetPosition: {x: 0, y: 0, z: 0} + m_TargetVelocity: {x: 0, y: 0, z: 0} + m_XDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_YDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_TargetRotation: {x: 0, y: 0, z: 0, w: 1} + m_TargetAngularVelocity: {x: 0, y: 0, z: 0} + m_RotationDriveMode: 1 + m_AngularXDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_AngularYZDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_SlerpDrive: + serializedVersion: 4 + positionSpring: 0 + positionDamper: 0 + maximumForce: 3.4028233e+38 + useAcceleration: 0 + m_ProjectionMode: 1 m_ProjectionDistance: 0.1 m_ProjectionAngle: 180 + m_ConfiguredInWorldSpace: 0 + m_SwapBodies: 0 m_BreakForce: Infinity m_BreakTorque: Infinity m_EnableCollision: 0 - m_EnablePreprocessing: 0 + m_EnablePreprocessing: 1 m_MassScale: 1 m_ConnectedMassScale: 1 diff --git a/Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab.meta b/Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab.meta similarity index 74% rename from Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab.meta rename to Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab.meta index 70d28c4..2335c21 100644 --- a/Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab.meta +++ b/Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: feef188ff5146fc40805e1c2d1015a4f +guid: 7fe3405e35529f240b5beac3990ab3d3 PrefabImporter: externalObjects: {} userData: diff --git a/Assets/ML-Agents/Timers/DreconDemo_timers.json b/Assets/ML-Agents/Timers/DreconDemo_timers.json index 1f41810..f5fb0ef 100644 --- a/Assets/ML-Agents/Timers/DreconDemo_timers.json +++ b/Assets/ML-Agents/Timers/DreconDemo_timers.json @@ -1 +1 @@ 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