diff options
| -rw-r--r-- | ActiveRagdoll/Assets/TABG/Scripts/Action/Balance.cs | 86 | ||||
| -rw-r--r-- | ActiveRagdoll/Assets/TABG/Scripts/Debug/GLHandle.cs | 143 | ||||
| -rw-r--r-- | ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs | 18 | ||||
| -rw-r--r-- | ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs.meta | 11 | ||||
| -rw-r--r-- | ActiveRagdoll/Assets/TABG/Test.unity | 4 |
5 files changed, 249 insertions, 13 deletions
diff --git a/ActiveRagdoll/Assets/TABG/Scripts/Action/Balance.cs b/ActiveRagdoll/Assets/TABG/Scripts/Action/Balance.cs index f8257e7..a003c4e 100644 --- a/ActiveRagdoll/Assets/TABG/Scripts/Action/Balance.cs +++ b/ActiveRagdoll/Assets/TABG/Scripts/Action/Balance.cs @@ -1,3 +1,4 @@ +using Rigging.Data; using Rigging.Debugging; using System.Collections; using System.Collections.Generic; @@ -43,10 +44,93 @@ namespace Rigging.Action hip = player.body.hip.GetComponent<Rigidbody>(); } + private void BalanceLegs() + { + using GLScope s = new GLScope(false); + + // 计算双脚的中心位置 + Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f; + Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f; + + GLHandle.DrawSphere(vector, 0.1f); + GLHandle.DrawSphere(vector2, 0.1f); + + Vector3 vector3 = (vector + vector2) / 2f; + + GLHandle.DrawSphere(vector3, 0.1f); + GLHandle.DrawSphere(vector3 + new Vector3(0, 0.3f, 0), 0.1f); + + // 迫使双脚向质心移动 + if (!(vector3.y + 0.3f > hip.worldCenterOfMass.y)) + { + vector3.y = 0f;//同样只考虑XOZ平面，忽略高度 + Vector3 vector4 = centerOfMass - vector3; // 质心和双脚中心的偏移 + + GLHandle.DrawSphere(vector3, 0.1f); + GLHandle.DrawSphere(centerOfMass, 0.1f); + GLHandle.DrawSphere(hip.worldCenterOfMass, 0.1f); + + GLHandle.DrawLine(vector, vector + vector4); + GLHandle.DrawLine(vector2, vector2 + vector4); + + footLeft.AddForceAtPosition(vector4 * muscleMultiplier * crouchMultiplier * balanceForce, vector, ForceMode.Acceleration); + footRight.AddForceAtPosition(vector4 * muscleMultiplier * crouchMultiplier * balanceForce, vector2, ForceMode.Acceleration); + } + } + + private void CenterLegs() + { + using GLScope s = new GLScope(true); + + Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f; + Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f; + + GLHandle.DrawSphere(vector, 0.1f); + GLHandle.DrawSphere(vector2, 0.1f); + + // 迫使双脚往质心移动 + + // 左脚 + Vector3 vector3 = vector; + if (vector.y + 0.3f < hip.worldCenterOfMass.y) + { + vector3.y = 0f; + footLeft.AddForceAtPosition((centerOfMass - vector3) * muscleMultiplier * footCenterForces, vector, ForceMode.Acceleration); + GLHandle.DrawLine(vector, vector + (centerOfMass - vector3)); + } + + // 右脚 + Vector3 vector4 = vector2; + if (vector4.y + 0.3f < hip.worldCenterOfMass.y) + { + vector4.y = 0f; + footRight.AddForceAtPosition((centerOfMass - vector4) * muscleMultiplier * footCenterForces, vector2, ForceMode.Acceleration); + GLHandle.DrawLine(vector2, vector2 + (centerOfMass - vector4)); + } + } + protected override void OnFixedUpdate() { + //muscleMultiplier = str.strength; - } + // 计算角色所有rigidbody合起来的质心在XOZ平面的投影位置（即忽略高度） + centerOfMass = Vector3.zero; + int num = 0; + Rigidbody[] array = allRigs; + foreach (Rigidbody rigidbody in array) + { + if ((bool)rigidbody) + { + centerOfMass += rigidbody.worldCenterOfMass; + num++; + } + } + centerOfMass /= (float)Mathf.Max(num, 1); + centerOfMass.y = 0f; + + BalanceLegs(); + CenterLegs(); + } protected override void OnUpdate() { diff --git a/ActiveRagdoll/Assets/TABG/Scripts/Debug/GLHandle.cs b/ActiveRagdoll/Assets/TABG/Scripts/Debug/GLHandle.cs index f2a6679..7f2eeae 100644 --- a/ActiveRagdoll/Assets/TABG/Scripts/Debug/GLHandle.cs +++ b/ActiveRagdoll/Assets/TABG/Scripts/Debug/GLHandle.cs @@ -1,18 +1,141 @@ -using System.Collections; -using System.Collections.Generic; +using System; using UnityEngine; -public class GLHandle : MonoBehaviour +namespace Rigging.Debugging { - // Start is called before the first frame update - void Start() + + public class GLScope : IDisposable { - + public GLScope(bool enabled) + { + GLHandle.EnterScope(enabled); + } + + public void Dispose() + { + GLHandle.EndScope(); + } } - // Update is called once per frame - void Update() + [DefaultExecutionOrder(-100)] + public class GLHandle : MonoBehaviour { - + + private static GLHandle instance; + private static event System.Action onGL; + private static event System.Action onGLFixedUpdate; + + private static Material lineMaterial; + + private static bool bScopeEnabled; + + static GLHandle() + { + bScopeEnabled = true; + } + + static void CreateLineMaterial() + { + if (!lineMaterial) + { + // Unity has a built-in shader that is useful for drawing + // simple colored things. + Shader shader = Shader.Find("Hidden/Internal-Colored"); + lineMaterial = new Material(shader); + lineMaterial.hideFlags = HideFlags.HideAndDontSave; + // Turn on alpha blending + lineMaterial.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha); + lineMaterial.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha); + // Turn backface culling off + lineMaterial.SetInt("_Cull", (int)UnityEngine.Rendering.CullMode.Off); + // Turn off depth writes + lineMaterial.SetInt("_ZWrite", 0); + lineMaterial.SetInt("_ZTest", 0); + } + } + + private void FixedUpdate() + { + onGLFixedUpdate = null; + } + + public void OnRenderObject() + { + CreateLineMaterial(); + + // Apply the line material + lineMaterial.SetPass(0); + + onGL?.Invoke(); + onGL = null; + + onGLFixedUpdate?.Invoke(); + } + + static void Check() + { + if(instance == null) + { + GameObject gl = new GameObject(); + gl.name = "GLHandle"; + instance = gl.AddComponent<GLHandle>(); + } + } + + public static void EnterScope(bool enabled = true) + { + bScopeEnabled = enabled; + } + + public static void EndScope() + { + bScopeEnabled = true; + } + + public static void DrawSphere(Vector3 pos, float radius, int verticalSegments = 1, int radialSegments = 2) + { + Check(); + + if (!bScopeEnabled) return; + + if(Time.inFixedTimeStep) + { + onGLFixedUpdate += () => + { + Draw.Sphere(pos, radius, verticalSegments, radialSegments); + }; + } + else + { + onGL += () => + { + Draw.Sphere(pos, radius, verticalSegments, radialSegments); + }; + } + } + + public static void DrawLine(Vector3 p1, Vector3 p2) + { + Check(); + + if (!bScopeEnabled) return; + + if (Time.inFixedTimeStep) + { + onGLFixedUpdate += () => + { + Draw.Line3D(p1, p2); + }; + } + else + { + onGL += () => + { + Draw.Line3D(p1, p2); + }; + } + } + } -} + +}
\ No newline at end of file diff --git a/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs b/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs new file mode 100644 index 0000000..746f80e --- /dev/null +++ b/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs @@ -0,0 +1,18 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace Rigging +{ + + public static class Utils + { + public static bool IsInsidePhysics() + { + return Time.inFixedTimeStep; + } + + + } + +} diff --git a/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs.meta b/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs.meta new file mode 100644 index 0000000..770d207 --- /dev/null +++ b/ActiveRagdoll/Assets/TABG/Scripts/Utils/Utils.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: cbdf43156a3daa549be2eea4d250de4b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ActiveRagdoll/Assets/TABG/Test.unity b/ActiveRagdoll/Assets/TABG/Test.unity index a350660..81f2617 100644 --- a/ActiveRagdoll/Assets/TABG/Test.unity +++ b/ActiveRagdoll/Assets/TABG/Test.unity @@ -670,8 +670,8 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1848931106} - m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: 0, y: 1, z: -10} + m_LocalRotation: {x: 0.14744055, y: 0.41793463, z: -0.068966135, w: 0.89377606} + m_LocalPosition: {x: -3.688255, y: 2.6339426, z: -2.137497} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] |