collision

2026-07-01 04:10:17 -05:00 · 2024-08-30 17:32:27 +09:00 · 2024-08-30 17:32:27 +09:00 · 2cc166f193
commit 2cc166f193
parent ee68e48f0f
6 changed files with 109 additions and 111 deletions
--- a/Assets/VRM/Runtime/SpringBone/Logic/SphereCollider.cs
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SphereCollider.cs
@ -14,5 +14,20 @@ namespace VRM.SpringBone
            var scale = Mathf.Max(Mathf.Max(ls.x, ls.y), ls.z);
            Radius = scale * collider.Radius;
        }
+
+        public Vector3 Collide(SpringBoneSettings settings, Transform m_transform, SpringBoneJointInit init, Vector3 nextTail)
+        {
+            var m_radius = settings.HitRadius * m_transform.UniformedLossyScale();
+            var r = m_radius + Radius;
+            if (Vector3.SqrMagnitude(nextTail - Position) <= (r * r))
+            {
+                // ヒット。Colliderの半径方向に押し出す
+                var normal = (nextTail - Position).normalized;
+                var posFromCollider = Position + normal * (m_radius + Radius);
+                // 長さをboneLengthに強制
+                nextTail = m_transform.position + (posFromCollider - m_transform.position).normalized * init.Length;
+            }
+            return nextTail;
+        }
    }
 }
--- a/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs
@ -1,49 +1,57 @@
+using System.Collections.Generic;
 using UnityEngine;

 namespace VRM.SpringBone
 {
-    struct JointState
+    /// <summary>
+    /// original from
+    /// http://rocketjump.skr.jp/unity3d/109/
+    /// 
+    /// この型のフィールドはSpringBoneのライフサイクルを通じて不変。
+    /// </summary>
+    struct SpringBoneJointInit
    {
-        public Vector3 CurrentTail;
-        public Vector3 PrevTail;
+        public Vector3 BoneAxis;
+        public float Length;
+        public Quaternion LocalRotation;

-        public static JointState Init(Transform center, Transform transform, Vector3 localChildPosition)
+        public Quaternion CalcRotation(Transform m_transform, Vector3 nextTail)
        {
-            var worldChildPosition = transform.TransformPoint(localChildPosition);
-            var tail = center != null
-                    ? center.InverseTransformPoint(worldChildPosition)
-                    : worldChildPosition;
-            return new JointState
-            {
-                CurrentTail = tail,
-                PrevTail = tail,
-            };
+            var rotation = (m_transform.parent != null ? m_transform.parent.rotation : Quaternion.identity) * LocalRotation;
+            return Quaternion.FromToRotation(rotation * BoneAxis,
+                       nextTail - m_transform.position) * rotation;
        }

-        public static JointState Make(Transform center, Vector3 currentTail, Vector3 nextTail)
+        public Vector3 CalcNextTail(float deltaTime, Transform center, Transform m_transform,
+            SpringBoneSettings settings, SpringBoneJointState _state)
        {
-            return new JointState
-            {
-                PrevTail = center != null
-                    ? center.InverseTransformPoint(currentTail)
-                    : currentTail,
-                CurrentTail = center != null
-                    ? center.InverseTransformPoint(nextTail)
-                    : nextTail,
-            };
+            var state = _state.ToWorld(center);
+
+            // verlet積分で次の位置を計算
+            var nextTail = state.CurrentTail
+                           + (state.CurrentTail - state.PrevTail) * (1.0f - settings.DragForce) // 前フレームの移動を継続する(減衰もあるよ)
+                           + (m_transform.parent != null ? m_transform.parent.rotation : Quaternion.identity) * LocalRotation * BoneAxis * settings.StiffnessForce * deltaTime // 親の回転による子ボーンの移動目標
+                           + settings.GravityDir * (settings.GravityPower * deltaTime); // 外力による移動量
+
+            // 長さをboneLengthに強制
+            var position = m_transform.position;
+            nextTail = position + (nextTail - position).normalized * Length;
+            return nextTail;
        }

-        public JointState ToWorld(Transform center)
+        public void DrawGizmo(Transform center, Transform m_transform, SpringBoneSettings settings, Color color, SpringBoneJointState m_state)
        {
-            return new JointState
-            {
-                CurrentTail = center != null
-                    ? center.TransformPoint(CurrentTail)
-                    : CurrentTail,
-                PrevTail = center != null
-                    ? center.TransformPoint(PrevTail)
-                    : PrevTail,
-            };
+            var state = m_state.ToWorld(center);
+            var m_radius = settings.HitRadius * m_transform.UniformedLossyScale();
+
+            Gizmos.color = Color.gray;
+            Gizmos.DrawLine(state.CurrentTail, state.PrevTail);
+            Gizmos.DrawWireSphere(state.PrevTail, m_radius);
+
+            Gizmos.color = color;
+            Gizmos.DrawLine(state.CurrentTail, m_transform.position);
+            Gizmos.DrawWireSphere(state.CurrentTail, m_radius);
        }
+
    };
 }
--- a/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs.meta
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs.meta
@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 3bbcafd66c035184b8aa868b65c01c1d
+guid: 2602939771f9eb2428b140e10fa899f2
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs
@ -1,80 +1,52 @@
-using System.Collections.Generic;
 using UnityEngine;

 namespace VRM.SpringBone
 {
    /// <summary>
-    /// original from
-    /// http://rocketjump.skr.jp/unity3d/109/
-    /// 
-    /// Joint 状態(初期・フレーム)を管理する
+    /// 毎フレーム更新される Verlet 積分の位置状態
    /// </summary>
-    struct SpringBoneJointInit
+    struct SpringBoneJointState
    {
-        public Vector3 BoneAxis;
-        public float Length;
-        public Quaternion LocalRotation;
+        public Vector3 CurrentTail;
+        public Vector3 PrevTail;

-        public Quaternion CalcRotation(Transform m_transform, Vector3 nextTail)
+        public static SpringBoneJointState Init(Transform center, Transform transform, Vector3 localChildPosition)
        {
-            var rotation = (m_transform.parent != null ? m_transform.parent.rotation : Quaternion.identity) * LocalRotation;
-            return Quaternion.FromToRotation(rotation * BoneAxis,
-                       nextTail - m_transform.position) * rotation;
-        }
-
-        public JointState Update(float deltaTime, Transform center, Transform m_transform,
-            SpringBoneSettings settings,
-            List<SphereCollider> colliders, JointState _state)
-        {
-            var state = _state.ToWorld(center);
-
-            // verlet積分で次の位置を計算
-            var nextTail = state.CurrentTail
-                           + (state.CurrentTail - state.PrevTail) * (1.0f - settings.DragForce) // 前フレームの移動を継続する(減衰もあるよ)
-                           + (m_transform.parent != null ? m_transform.parent.rotation : Quaternion.identity) * LocalRotation * BoneAxis * settings.StiffnessForce * deltaTime // 親の回転による子ボーンの移動目標
-                           + settings.GravityDir * (settings.GravityPower * deltaTime); // 外力による移動量
-
-            // 長さをboneLengthに強制
-            var position = m_transform.position;
-            nextTail = position + (nextTail - position).normalized * Length;
-
-            // Collisionで移動
-            nextTail = Collision(m_transform, settings, colliders, nextTail);
-
-            return JointState.Make(center, currentTail: state.CurrentTail, nextTail: nextTail);
-        }
-
-        Vector3 Collision(Transform m_transform, SpringBoneSettings settings, List<SphereCollider> colliders, Vector3 nextTail)
-        {
-            foreach (var collider in colliders)
+            var worldChildPosition = transform.TransformPoint(localChildPosition);
+            var tail = center != null
+                    ? center.InverseTransformPoint(worldChildPosition)
+                    : worldChildPosition;
+            return new SpringBoneJointState
            {
-                var m_radius = settings.HitRadius * m_transform.UniformedLossyScale();
-                var r = m_radius + collider.Radius;
-                if (Vector3.SqrMagnitude(nextTail - collider.Position) <= (r * r))
-                {
-                    // ヒット。Colliderの半径方向に押し出す
-                    var normal = (nextTail - collider.Position).normalized;
-                    var posFromCollider = collider.Position + normal * (m_radius + collider.Radius);
-                    // 長さをboneLengthに強制
-                    nextTail = m_transform.position + (posFromCollider - m_transform.position).normalized * Length;
-                }
-            }
-            return nextTail;
+                CurrentTail = tail,
+                PrevTail = tail,
+            };
        }

-        public void DrawGizmo(Transform center, Transform m_transform, SpringBoneSettings settings, Color color, JointState m_state)
+        public static SpringBoneJointState Make(Transform center, Vector3 currentTail, Vector3 nextTail)
        {
-            var state = m_state.ToWorld(center);
-            var m_radius = settings.HitRadius * m_transform.UniformedLossyScale();
-
-            Gizmos.color = Color.gray;
-            Gizmos.DrawLine(state.CurrentTail, state.PrevTail);
-            Gizmos.DrawWireSphere(state.PrevTail, m_radius);
-
-            Gizmos.color = color;
-            Gizmos.DrawLine(state.CurrentTail, m_transform.position);
-            Gizmos.DrawWireSphere(state.CurrentTail, m_radius);
+            return new SpringBoneJointState
+            {
+                PrevTail = center != null
+                    ? center.InverseTransformPoint(currentTail)
+                    : currentTail,
+                CurrentTail = center != null
+                    ? center.InverseTransformPoint(nextTail)
+                    : nextTail,
+            };
        }

+        public SpringBoneJointState ToWorld(Transform center)
+        {
+            return new SpringBoneJointState
+            {
+                CurrentTail = center != null
+                    ? center.TransformPoint(CurrentTail)
+                    : CurrentTail,
+                PrevTail = center != null
+                    ? center.TransformPoint(PrevTail)
+                    : PrevTail,
+            };
+        }
    };
 }
--- a/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs.meta
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs.meta
@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 2602939771f9eb2428b140e10fa899f2
+guid: 3bbcafd66c035184b8aa868b65c01c1d
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSystem.cs
+++ b/Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSystem.cs
@ -4,18 +4,10 @@ using UnityEngine;

 namespace VRM.SpringBone
 {
-    /// <summary>
-    /// 同じ設定のスプリングをまとめて処理する。
-    /// 
-    /// root o-o-o-x tail
-    /// 
-    /// [vrm0] tail は 7cm 遠にダミーの joint があるようにふるまう。
-    /// 
-    /// </summary>
    class SpringBoneSystem
    {
        Dictionary<Transform, Quaternion> m_initialLocalRotationMap;
-        List<(Transform, SpringBoneJointInit, JointState)> m_joints = new();
+        List<(Transform, SpringBoneJointInit, SpringBoneJointState)> m_joints = new();
        List<SphereCollider> m_colliders = new();

        public void Setup(SceneInfo scene, bool force)
@ -79,7 +71,7 @@ namespace VRM.SpringBone
                    BoneAxis = localChildPosition.normalized,
                    Length = localChildPosition.magnitude,
                },
-                JointState.Init(center, parent, localChildPosition)));
+                SpringBoneJointState.Init(center, parent, localChildPosition)));

            foreach (Transform child in parent) SetupRecursive(center, child);
        }
@ -95,6 +87,7 @@ namespace VRM.SpringBone
                Setup(scene, false);
            }

+            // collider の収集
            m_colliders.Clear();
            if (scene.ColliderGroups != null)
            {
@ -113,11 +106,21 @@ namespace VRM.SpringBone
            for (int i = 0; i < m_joints.Count; ++i)
            {
                var (transform, init, state) = m_joints[i];
-                var nextState = init.Update(deltaTime, scene.Center, transform, settings, m_colliders, state);
-                m_joints[i] = (transform, init, nextState);
+
+                // Spring処理
+                var nextTail = init.CalcNextTail(deltaTime, scene.Center, transform, settings, state);
+
+                // Collision
+                foreach (var collider in m_colliders)
+                {
+                    nextTail = collider.Collide(settings, transform, init, nextTail);
+                }
+
+                // 状態更新
+                m_joints[i] = (transform, init, SpringBoneJointState.Make(scene.Center, currentTail: state.CurrentTail, nextTail: nextTail));

                //回転を適用
-                var r = init.CalcRotation(transform, nextState.CurrentTail);
+                var r = init.CalcRotation(transform, nextTail);
                transform.rotation = r;
            }
        }