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jointdrive controller added

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This commit is contained in:
Cailean Finn
2024-04-12 13:46:41 +01:00
parent 4b6d2492ab
commit 63e2ce1871
8 changed files with 1353 additions and 254 deletions
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6
Assets/5_Scenes/DreconDemo.unity generated
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@@ -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:
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m_GameObject: {fileID: 882491594}
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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:
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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

14
Assets/5_Scenes/DreconDemo_Profiles/Camera Mound-Top.asset generated
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@@ -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:
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m_Value: 3
m_Value: 5
m_NearMaxBlur:
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m_Value: 2
m_Value: 4
m_FarSampleCount:
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m_FarMaxBlur:
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m_Value: 5
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m_Resolution:
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m_PhysicallyBased:
m_OverrideState: 1
m_Value: 0

40
Assets/8_Scripts/2_General/Body.cs
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@@ -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<JointDriveController>();
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());
}

152
Assets/8_Scripts/2_General/JointDriveController.cs Normal file
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@@ -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();
/// <summary>
/// Reset body part to initial configuration.
/// </summary>
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;
}
/// <summary>
/// Apply torque according to defined goal `x, y, z` angle and force `strength`.
/// </summary>
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<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
[HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
const float k_MaxAngularVelocity = 50.0f;
/// <summary>
/// Create BodyPart object and add it to dictionary.
/// </summary>
public void SetupBodyPart(Transform t)
{
var bp = new BodyPart
{
rb = t.GetComponent<Rigidbody>(),
joint = t.GetComponent<ConfigurableJoint>(),
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);
}
}
}
}
}

11
Assets/8_Scripts/2_General/JointDriveController.cs.meta generated Normal file
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@@ -0,0 +1,11 @@
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1380
Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab → Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab generated
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File diff suppressed because it is too large Load Diff

2
Assets/9_Models/Humanoid/SMPLX/SMLPXModel_Loose_Joints.prefab.meta → Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab.meta generated
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@@ -1,5 +1,5 @@
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2
Assets/ML-Agents/Timers/DreconDemo_timers.json
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@@ -1 +1 @@
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