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Merge 0c329f1e32 into 66558744b7

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notargs
2026-06-11 16:35:05 +09:00
committed by GitHub
parent 66558744b7 0c329f1e32
commit 0e8de9cccf
7 changed files with 18 additions and 18 deletions
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8
Packages/UniGLTF/Runtime/SpringBoneJobs/Anglelimit/Anglelimit.cs
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@@ -18,7 +18,7 @@ namespace UniGLTF.SpringBoneJobs
case AnglelimitTypes.Cone:
{
var angleSpaceToWorld = anglelimitSpaceToWorld(logic, joint, parentRotation);
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalize(nextTail - head));
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalizesafe(nextTail - head));
tailDir = AnglelimitCone.Apply(tailDir, joint.anglelimit1);
return head + math.mul(angleSpaceToWorld, tailDir) * logic.length;
}
@@ -26,7 +26,7 @@ namespace UniGLTF.SpringBoneJobs
case AnglelimitTypes.Hinge:
{
var angleSpaceToWorld = anglelimitSpaceToWorld(logic, joint, parentRotation);
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalize(nextTail - head));
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalizesafe(nextTail - head));
tailDir = AnglelimitHinge.Apply(tailDir, joint.anglelimit1);
return head + math.mul(angleSpaceToWorld, tailDir) * logic.length;
}
@@ -35,7 +35,7 @@ namespace UniGLTF.SpringBoneJobs
case AnglelimitTypes.Spherical:
{
var angleSpaceToWorld = anglelimitSpaceToWorld(logic, joint, parentRotation);
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalize(nextTail - head));
var tailDir = math.mul(math.inverse(angleSpaceToWorld), math.normalizesafe(nextTail - head));
tailDir = AnglelimitSpherical.Apply(tailDir, joint.anglelimit1, joint.anglelimit2);
return head + math.mul(angleSpaceToWorld, tailDir) * logic.length;
}
@@ -84,7 +84,7 @@ namespace UniGLTF.SpringBoneJobs
// General case
// quaternion(cross(from, to); dot(from, to) + 1).normalized
return math.normalize(new quaternion(to.z, 0f, -to.x, dot1));
return math.normalizesafe(new quaternion(to.z, 0f, -to.x, dot1));
}
}
}

2
Packages/UniGLTF/Runtime/SpringBoneJobs/Anglelimit/AnglelimitHinge.cs
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@@ -12,7 +12,7 @@ namespace UniGLTF.SpringBoneJobs
// x要素を0にし、正規化する
float3 tailDir = src;
tailDir.x = 0.0f;
tailDir = math.normalize(tailDir);
tailDir = math.normalizesafe(tailDir);
// tailDirのy要素をjointに設定されたangleの余弦と比較する
var cosAngle = math.cos(limitAngle);

2
Packages/UniGLTF/Runtime/SpringBoneJobs/Blittables/BlittableTransform.cs
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@@ -140,7 +140,7 @@ namespace UniGLTF.SpringBoneJobs.Blittables
if(parent.HasValue)
{
newLocalRotation = math.normalize(math.mul(math.inverse(parent.Value.rotation), newRotation));
newLocalRotation = math.normalizesafe(math.mul(math.inverse(parent.Value.rotation), newRotation));
newLocalToWorldMatrix = math.mul(parent.Value.localToWorldMatrix, float4x4.TRS(localPosition, newLocalRotation, localScale));
}
else

2
Packages/UniGLTF/Runtime/SpringBoneJobs/InputPorts/FastSpringBoneBuffer.cs
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@@ -125,7 +125,7 @@ namespace UniGLTF.SpringBoneJobs.InputPorts
parentTransformIndex: Array.IndexOf<Transform>(Transforms, joint.Transform.parent),
tailTransformIndex: Array.IndexOf<Transform>(Transforms, tailJoint.Transform),
localRotation: joint.DefaultLocalRotation,
boneAxis: math.normalize(localChildPosition),
boneAxis: math.normalizesafe(localChildPosition),
length: math.length(localChildPosition));
}
}

12
Packages/UniGLTF/Runtime/SpringBoneJobs/SpringBoneCollision.cs
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@@ -47,10 +47,10 @@ namespace UniGLTF.SpringBoneJobs
if (math.lengthsq(nextTail - worldPosition) <= (r * r))
{
// ヒット。Colliderの半径方向に押し出す
var normal = math.normalize(nextTail - worldPosition);
var normal = math.normalizesafe(nextTail - worldPosition);
var posFromCollider = worldPosition + normal * r;
// 長さをboneLengthに強制
newNextTail = headTransform.position + math.normalize(posFromCollider - headTransform.position) * logic.length;
newNextTail = headTransform.position + math.normalizesafe(posFromCollider - headTransform.position) * logic.length;
return true;
}
else
@@ -76,7 +76,7 @@ namespace UniGLTF.SpringBoneJobs
// head側半球の球判定
return TryResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, nextTail, out newNextTail);
}
var P = math.normalize(direction);
var P = math.normalizesafe(direction);
var Q = headTransform.position - worldPosition;
var dot = math.dot(P, Q);
if (dot <= 0)
@@ -110,7 +110,7 @@ namespace UniGLTF.SpringBoneJobs
in float3 nextTail, out float3 newNextTail)
{
var transformedOffset = MathHelper.MultiplyPoint(colliderTransform.localToWorldMatrix, collider.offset);
var transformedNormal = math.normalize(MathHelper.MultiplyVector(colliderTransform.localToWorldMatrix, collider.tailOrNormal));
var transformedNormal = math.normalizesafe(MathHelper.MultiplyVector(colliderTransform.localToWorldMatrix, collider.tailOrNormal));
var delta = nextTail - transformedOffset;
// ジョイントとコライダーの距離。負の値は衝突していることを示す
@@ -145,7 +145,7 @@ namespace UniGLTF.SpringBoneJobs
// ジョイントとコライダーの距離の方向。衝突している場合、この方向にジョイントを押し出す
if (distance < 0)
{
var direction = -1 * math.normalize(delta);
var direction = -1 * math.normalizesafe(delta);
newNextTail = nextTail - direction * distance;
return true;
}
@@ -192,7 +192,7 @@ namespace UniGLTF.SpringBoneJobs
// ジョイントとコライダーの距離の方向。衝突している場合、この方向にジョイントを押し出す
if (distance < 0)
{
var direction = -1 * math.normalize(delta);
var direction = -1 * math.normalizesafe(delta);
newNextTail = nextTail - direction * distance;
return true;
}

2
Packages/UniGLTF/Runtime/SpringBoneJobs/UpdateFastSpringBoneJob.cs
View File

@@ -92,7 +92,7 @@ namespace UniGLTF.SpringBoneJobs
+ external * scalingFactor; // 外力による移動量
// 長さをboneLengthに強制
nextTail = headTransform.position + math.normalize(nextTail - headTransform.position) * logic.length;
nextTail = headTransform.position + math.normalizesafe(nextTail - headTransform.position) * logic.length;
nextTail = Anglelimit.Apply(logic, joint, parentRotation, head: headTransform.position, nextTail: nextTail);

8
Packages/UniGLTF/Runtime/Utils/MathHelper.cs
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@@ -32,8 +32,8 @@ namespace UniGLTF.Runtime.Utils
return quaternion.identity;
}
float3 from = math.normalize(fromVector);
float3 to = math.normalize(toVector);
float3 from = math.normalizesafe(fromVector);
float3 to = math.normalizesafe(toVector);
var dot = math.dot(from, to);
switch(dot)
@@ -47,13 +47,13 @@ namespace UniGLTF.Runtime.Utils
{
axis = math.cross(from, new float3(0, 1, 0));
}
return quaternion.AxisAngle(math.normalize(axis), math.PI);
return quaternion.AxisAngle(math.normalizesafe(axis), math.PI);
}
default:
{
var angle = math.acos(dot);
var axis = math.cross(from, to);
return quaternion.AxisAngle(math.normalize(axis), angle);
return quaternion.AxisAngle(math.normalizesafe(axis), angle);
}
}
}