using UnityEngine; using System.Collections.Generic; [AddComponentMenu("Dynamic Bone/Dynamic Bone")] public class DynamicBone : MonoBehaviour { #if UNITY_5_3_OR_NEWER [Tooltip("The root of the transform hierarchy to apply physics.")] #endif public Transform m_Root = null; #if UNITY_5_3_OR_NEWER [Tooltip("Internal physics simulation rate.")] #endif public float m_UpdateRate = 60.0f; public enum UpdateMode { Normal, AnimatePhysics, UnscaledTime } public UpdateMode m_UpdateMode = UpdateMode.Normal; #if UNITY_5_3_OR_NEWER [Tooltip("How much the bones slowed down.")] #endif [Range(0, 1)] public float m_Damping = 0.1f; public AnimationCurve m_DampingDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("How much the force applied to return each bone to original orientation.")] #endif [Range(0, 1)] public float m_Elasticity = 0.1f; public AnimationCurve m_ElasticityDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("How much bone's original orientation are preserved.")] #endif [Range(0, 1)] public float m_Stiffness = 0.1f; public AnimationCurve m_StiffnessDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("How much character's position change is ignored in physics simulation.")] #endif [Range(0, 1)] public float m_Inert = 0; public AnimationCurve m_InertDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("How much the bones slowed down when collide.")] #endif public float m_Friction = 0; public AnimationCurve m_FrictionDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("Each bone can be a sphere to collide with colliders. Radius describe sphere's size.")] #endif public float m_Radius = 0; public AnimationCurve m_RadiusDistrib = null; #if UNITY_5_3_OR_NEWER [Tooltip("If End Length is not zero, an extra bone is generated at the end of transform hierarchy.")] #endif public float m_EndLength = 0; #if UNITY_5_3_OR_NEWER [Tooltip("If End Offset is not zero, an extra bone is generated at the end of transform hierarchy.")] #endif public Vector3 m_EndOffset = Vector3.zero; #if UNITY_5_3_OR_NEWER [Tooltip("The force apply to bones. Partial force apply to character's initial pose is cancelled out.")] #endif public Vector3 m_Gravity = Vector3.zero; #if UNITY_5_3_OR_NEWER [Tooltip("The force apply to bones.")] #endif public Vector3 m_Force = Vector3.zero; #if UNITY_5_3_OR_NEWER [Tooltip("Collider objects interact with the bones.")] #endif public List<DynamicBoneColliderBase> m_Colliders = null; #if UNITY_5_3_OR_NEWER [Tooltip("Bones exclude from physics simulation.")] #endif public List<Transform> m_Exclusions = null; public enum FreezeAxis { None, X, Y, Z } #if UNITY_5_3_OR_NEWER [Tooltip("Constrain bones to move on specified plane.")] #endif public FreezeAxis m_FreezeAxis = FreezeAxis.None; #if UNITY_5_3_OR_NEWER [Tooltip("Disable physics simulation automatically if character is far from camera or player.")] #endif public bool m_DistantDisable = false; public Transform m_ReferenceObject = null; public float m_DistanceToObject = 20; Vector3 m_LocalGravity = Vector3.zero; Vector3 m_ObjectMove = Vector3.zero; Vector3 m_ObjectPrevPosition = Vector3.zero; float m_BoneTotalLength = 0; float m_ObjectScale = 1.0f; float m_Time = 0; float m_Weight = 1.0f; bool m_DistantDisabled = false; class Particle { public Transform m_Transform = null; public int m_ParentIndex = -1; public float m_Damping = 0; public float m_Elasticity = 0; public float m_Stiffness = 0; public float m_Inert = 0; public float m_Friction = 0; public float m_Radius = 0; public float m_BoneLength = 0; public bool m_isCollide = false; public Vector3 m_Position = Vector3.zero; public Vector3 m_PrevPosition = Vector3.zero; public Vector3 m_EndOffset = Vector3.zero; public Vector3 m_InitLocalPosition = Vector3.zero; public Quaternion m_InitLocalRotation = Quaternion.identity; } List<Particle> m_Particles = new List<Particle>(); void Start() { SetupParticles(); } void FixedUpdate() { if (m_UpdateMode == UpdateMode.AnimatePhysics) PreUpdate(); } void Update() { if (m_UpdateMode != UpdateMode.AnimatePhysics) PreUpdate(); } void LateUpdate() { if (m_DistantDisable) CheckDistance(); if (m_Weight > 0 && !(m_DistantDisable && m_DistantDisabled)) { #if UNITY_5_3_OR_NEWER float dt = m_UpdateMode == UpdateMode.UnscaledTime ? Time.unscaledDeltaTime : Time.deltaTime; #else float dt = Time.deltaTime; #endif UpdateDynamicBones(dt); } } void PreUpdate() { if (m_Weight > 0 && !(m_DistantDisable && m_DistantDisabled)) InitTransforms(); } void CheckDistance() { Transform rt = m_ReferenceObject; if (rt == null && Camera.main != null) rt = Camera.main.transform; if (rt != null) { float d = (rt.position - transform.position).sqrMagnitude; bool disable = d > m_DistanceToObject * m_DistanceToObject; if (disable != m_DistantDisabled) { if (!disable) ResetParticlesPosition(); m_DistantDisabled = disable; } } } void OnEnable() { ResetParticlesPosition(); } void OnDisable() { InitTransforms(); } void OnValidate() { m_UpdateRate = Mathf.Max(m_UpdateRate, 0); m_Damping = Mathf.Clamp01(m_Damping); m_Elasticity = Mathf.Clamp01(m_Elasticity); m_Stiffness = Mathf.Clamp01(m_Stiffness); m_Inert = Mathf.Clamp01(m_Inert); m_Friction = Mathf.Clamp01(m_Friction); m_Radius = Mathf.Max(m_Radius, 0); if (Application.isEditor && Application.isPlaying) { InitTransforms(); SetupParticles(); } } void OnDrawGizmosSelected() { if (!enabled || m_Root == null) return; if (Application.isEditor && !Application.isPlaying && transform.hasChanged) { InitTransforms(); SetupParticles(); } Gizmos.color = Color.white; for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; if (p.m_ParentIndex >= 0) { Particle p0 = m_Particles[p.m_ParentIndex]; Gizmos.DrawLine(p.m_Position, p0.m_Position); } if (p.m_Radius > 0) Gizmos.DrawWireSphere(p.m_Position, p.m_Radius * m_ObjectScale); } } public void SetWeight(float w) { if (m_Weight != w) { if (w == 0) InitTransforms(); else if (m_Weight == 0) ResetParticlesPosition(); m_Weight = w; } } public float GetWeight() { return m_Weight; } void UpdateDynamicBones(float t) { if (m_Root == null) return; m_ObjectScale = Mathf.Abs(transform.lossyScale.x); m_ObjectMove = transform.position - m_ObjectPrevPosition; m_ObjectPrevPosition = transform.position; int loop = 1; if (m_UpdateRate > 0) { float dt = 1.0f / m_UpdateRate; m_Time += t; loop = 0; while (m_Time >= dt) { m_Time -= dt; if (++loop >= 3) { m_Time = 0; break; } } } if (loop > 0) { for (int i = 0; i < loop; ++i) { UpdateParticles1(); UpdateParticles2(); m_ObjectMove = Vector3.zero; } } else { SkipUpdateParticles(); } ApplyParticlesToTransforms(); } void SetupParticles() { m_Particles.Clear(); if (m_Root == null) return; m_LocalGravity = m_Root.InverseTransformDirection(m_Gravity); m_ObjectScale = Mathf.Abs(transform.lossyScale.x); m_ObjectPrevPosition = transform.position; m_ObjectMove = Vector3.zero; m_BoneTotalLength = 0; AppendParticles(m_Root, -1, 0); UpdateParameters(); } void AppendParticles(Transform b, int parentIndex, float boneLength) { Particle p = new Particle(); p.m_Transform = b; p.m_ParentIndex = parentIndex; if (b != null) { p.m_Position = p.m_PrevPosition = b.position; p.m_InitLocalPosition = b.localPosition; p.m_InitLocalRotation = b.localRotation; } else // end bone { Transform pb = m_Particles[parentIndex].m_Transform; if (m_EndLength > 0) { Transform ppb = pb.parent; if (ppb != null) p.m_EndOffset = pb.InverseTransformPoint((pb.position * 2 - ppb.position)) * m_EndLength; else p.m_EndOffset = new Vector3(m_EndLength, 0, 0); } else { p.m_EndOffset = pb.InverseTransformPoint(transform.TransformDirection(m_EndOffset) + pb.position); } p.m_Position = p.m_PrevPosition = pb.TransformPoint(p.m_EndOffset); } if (parentIndex >= 0) { boneLength += (m_Particles[parentIndex].m_Transform.position - p.m_Position).magnitude; p.m_BoneLength = boneLength; m_BoneTotalLength = Mathf.Max(m_BoneTotalLength, boneLength); } int index = m_Particles.Count; m_Particles.Add(p); if (b != null) { for (int i = 0; i < b.childCount; ++i) { bool exclude = false; if (m_Exclusions != null) { for (int j = 0; j < m_Exclusions.Count; ++j) { Transform e = m_Exclusions[j]; if (e == b.GetChild(i)) { exclude = true; break; } } } if (!exclude) AppendParticles(b.GetChild(i), index, boneLength); else if (m_EndLength > 0 || m_EndOffset != Vector3.zero) AppendParticles(null, index, boneLength); } if (b.childCount == 0 && (m_EndLength > 0 || m_EndOffset != Vector3.zero)) AppendParticles(null, index, boneLength); } } public void UpdateParameters() { if (m_Root == null) return; m_LocalGravity = m_Root.InverseTransformDirection(m_Gravity); for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; p.m_Damping = m_Damping; p.m_Elasticity = m_Elasticity; p.m_Stiffness = m_Stiffness; p.m_Inert = m_Inert; p.m_Friction = m_Friction; p.m_Radius = m_Radius; if (m_BoneTotalLength > 0) { float a = p.m_BoneLength / m_BoneTotalLength; if (m_DampingDistrib != null && m_DampingDistrib.keys.Length > 0) p.m_Damping *= m_DampingDistrib.Evaluate(a); if (m_ElasticityDistrib != null && m_ElasticityDistrib.keys.Length > 0) p.m_Elasticity *= m_ElasticityDistrib.Evaluate(a); if (m_StiffnessDistrib != null && m_StiffnessDistrib.keys.Length > 0) p.m_Stiffness *= m_StiffnessDistrib.Evaluate(a); if (m_InertDistrib != null && m_InertDistrib.keys.Length > 0) p.m_Inert *= m_InertDistrib.Evaluate(a); if (m_FrictionDistrib != null && m_FrictionDistrib.keys.Length > 0) p.m_Friction *= m_FrictionDistrib.Evaluate(a); if (m_RadiusDistrib != null && m_RadiusDistrib.keys.Length > 0) p.m_Radius *= m_RadiusDistrib.Evaluate(a); } p.m_Damping = Mathf.Clamp01(p.m_Damping); p.m_Elasticity = Mathf.Clamp01(p.m_Elasticity); p.m_Stiffness = Mathf.Clamp01(p.m_Stiffness); p.m_Inert = Mathf.Clamp01(p.m_Inert); p.m_Friction = Mathf.Clamp01(p.m_Friction); p.m_Radius = Mathf.Max(p.m_Radius, 0); } } void InitTransforms() { for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; if (p.m_Transform != null) { p.m_Transform.localPosition = p.m_InitLocalPosition; p.m_Transform.localRotation = p.m_InitLocalRotation; } } } void ResetParticlesPosition() { for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; if (p.m_Transform != null) { p.m_Position = p.m_PrevPosition = p.m_Transform.position; } else // end bone { Transform pb = m_Particles[p.m_ParentIndex].m_Transform; p.m_Position = p.m_PrevPosition = pb.TransformPoint(p.m_EndOffset); } p.m_isCollide = false; } m_ObjectPrevPosition = transform.position; } void UpdateParticles1() { Vector3 force = m_Gravity; Vector3 fdir = m_Gravity.normalized; Vector3 rf = m_Root.TransformDirection(m_LocalGravity); Vector3 pf = fdir * Mathf.Max(Vector3.Dot(rf, fdir), 0); // project current gravity to rest gravity force -= pf; // remove projected gravity force = (force + m_Force) * m_ObjectScale; for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; if (p.m_ParentIndex >= 0) { // verlet integration Vector3 v = p.m_Position - p.m_PrevPosition; Vector3 rmove = m_ObjectMove * p.m_Inert; p.m_PrevPosition = p.m_Position + rmove; float damping = p.m_Damping; if (p.m_isCollide) { damping += p.m_Friction; if (damping > 1) damping = 1; p.m_isCollide = false; } p.m_Position += v * (1 - damping) + force + rmove; } else { p.m_PrevPosition = p.m_Position; p.m_Position = p.m_Transform.position; } } } void UpdateParticles2() { Plane movePlane = new Plane(); for (int i = 1; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; Particle p0 = m_Particles[p.m_ParentIndex]; float restLen; if (p.m_Transform != null) restLen = (p0.m_Transform.position - p.m_Transform.position).magnitude; else restLen = p0.m_Transform.localToWorldMatrix.MultiplyVector(p.m_EndOffset).magnitude; // keep shape float stiffness = Mathf.Lerp(1.0f, p.m_Stiffness, m_Weight); if (stiffness > 0 || p.m_Elasticity > 0) { Matrix4x4 m0 = p0.m_Transform.localToWorldMatrix; m0.SetColumn(3, p0.m_Position); Vector3 restPos; if (p.m_Transform != null) restPos = m0.MultiplyPoint3x4(p.m_Transform.localPosition); else restPos = m0.MultiplyPoint3x4(p.m_EndOffset); Vector3 d = restPos - p.m_Position; p.m_Position += d * p.m_Elasticity; if (stiffness > 0) { d = restPos - p.m_Position; float len = d.magnitude; float maxlen = restLen * (1 - stiffness) * 2; if (len > maxlen) p.m_Position += d * ((len - maxlen) / len); } } // collide if (m_Colliders != null) { float particleRadius = p.m_Radius * m_ObjectScale; for (int j = 0; j < m_Colliders.Count; ++j) { DynamicBoneColliderBase c = m_Colliders[j]; if (c != null && c.enabled) p.m_isCollide |= c.Collide(ref p.m_Position, particleRadius); } } // freeze axis, project to plane if (m_FreezeAxis != FreezeAxis.None) { switch (m_FreezeAxis) { case FreezeAxis.X: movePlane.SetNormalAndPosition(p0.m_Transform.right, p0.m_Position); break; case FreezeAxis.Y: movePlane.SetNormalAndPosition(p0.m_Transform.up, p0.m_Position); break; case FreezeAxis.Z: movePlane.SetNormalAndPosition(p0.m_Transform.forward, p0.m_Position); break; } p.m_Position -= movePlane.normal * movePlane.GetDistanceToPoint(p.m_Position); } // keep length Vector3 dd = p0.m_Position - p.m_Position; float leng = dd.magnitude; if (leng > 0) p.m_Position += dd * ((leng - restLen) / leng); } } // only update stiffness and keep bone length void SkipUpdateParticles() { for (int i = 0; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; if (p.m_ParentIndex >= 0) { p.m_PrevPosition += m_ObjectMove; p.m_Position += m_ObjectMove; Particle p0 = m_Particles[p.m_ParentIndex]; float restLen; if (p.m_Transform != null) restLen = (p0.m_Transform.position - p.m_Transform.position).magnitude; else restLen = p0.m_Transform.localToWorldMatrix.MultiplyVector(p.m_EndOffset).magnitude; // keep shape float stiffness = Mathf.Lerp(1.0f, p.m_Stiffness, m_Weight); if (stiffness > 0) { Matrix4x4 m0 = p0.m_Transform.localToWorldMatrix; m0.SetColumn(3, p0.m_Position); Vector3 restPos; if (p.m_Transform != null) restPos = m0.MultiplyPoint3x4(p.m_Transform.localPosition); else restPos = m0.MultiplyPoint3x4(p.m_EndOffset); Vector3 d = restPos - p.m_Position; float len = d.magnitude; float maxlen = restLen * (1 - stiffness) * 2; if (len > maxlen) p.m_Position += d * ((len - maxlen) / len); } // keep length Vector3 dd = p0.m_Position - p.m_Position; float leng = dd.magnitude; if (leng > 0) p.m_Position += dd * ((leng - restLen) / leng); } else { p.m_PrevPosition = p.m_Position; p.m_Position = p.m_Transform.position; } } } static Vector3 MirrorVector(Vector3 v, Vector3 axis) { return v - axis * (Vector3.Dot(v, axis) * 2); } void ApplyParticlesToTransforms() { #if !UNITY_5_4_OR_NEWER // detect negative scale Vector3 ax = Vector3.right; Vector3 ay = Vector3.up; Vector3 az = Vector3.forward; bool nx = false, ny = false, nz = false; Vector3 loosyScale = transform.lossyScale; if (loosyScale.x < 0 || loosyScale.y < 0 || loosyScale.z < 0) { Transform mirrorObject = transform; do { Vector3 ls = mirrorObject.localScale; nx = ls.x < 0; if (nx) ax = mirrorObject.right; ny = ls.y < 0; if (ny) ay = mirrorObject.up; nz = ls.z < 0; if (nz) az = mirrorObject.forward; if (nx || ny || nz) break; mirrorObject = mirrorObject.parent; } while (mirrorObject != null); } #endif for (int i = 1; i < m_Particles.Count; ++i) { Particle p = m_Particles[i]; Particle p0 = m_Particles[p.m_ParentIndex]; if (p0.m_Transform.childCount <= 1) // do not modify bone orientation if has more then one child { Vector3 v; if (p.m_Transform != null) v = p.m_Transform.localPosition; else v = p.m_EndOffset; Vector3 v2 = p.m_Position - p0.m_Position; #if !UNITY_5_4_OR_NEWER if (nx) v2 = MirrorVector(v2, ax); if (ny) v2 = MirrorVector(v2, ay); if (nz) v2 = MirrorVector(v2, az); #endif Quaternion rot = Quaternion.FromToRotation(p0.m_Transform.TransformDirection(v), v2); p0.m_Transform.rotation = rot * p0.m_Transform.rotation; } if (p.m_Transform != null) p.m_Transform.position = p.m_Position; } } }