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回転・拡縮に対応するべく SpringBone joint の TRS を質点の位置に解決するように整理する

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vrm0 > vrm0.fast > vrm1.fast の順に作業する。３つとも処理内容は同じ
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ousttrue 2024-08-29 20:35:51 +09:00
parent 5a664f18c3
commit 76850ba67c
14 changed files with 415 additions and 292 deletions
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8
Assets/VRM/Runtime/SpringBone/Logic.meta Normal file
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Assets/VRM/Runtime/SpringBone/Logic/SceneInfo.cs Normal file
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using System.Collections.Generic;
using UnityEngine;
namespace VRM.SpringBone
{
struct SceneInfo
{
public IReadOnlyList<Transform> RootBones;
public Transform m_center;
public VRMSpringBoneColliderGroup[] ColliderGroups;
}
}

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Assets/VRM/Runtime/SpringBone/Logic/SceneInfo.cs.meta Normal file
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Assets/VRM/Runtime/SpringBone/Logic/SphereCollider.cs Normal file
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using UnityEngine;
namespace VRM.SpringBone
{
struct SphereCollider
{
public readonly Vector3 Position;
public readonly float Radius;
public SphereCollider(Transform transform, VRMSpringBoneColliderGroup.SphereCollider collider)
{
Position = transform.TransformPoint(collider.Offset);
var ls = transform.lossyScale;
var scale = Mathf.Max(Mathf.Max(ls.x, ls.y), ls.z);
Radius = scale * collider.Radius;
}
}
}

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Assets/VRM/Runtime/SpringBone/Logic/SphereCollider.cs.meta Normal file
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129
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJoint.cs Normal file
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@ -0,0 +1,129 @@
using System.Collections.Generic;
using UnityEngine;
namespace VRM.SpringBone
{
/// <summary>
/// original from
/// http://rocketjump.skr.jp/unity3d/109/
/// </summary>
class SpringBoneJoint
{
Transform m_transform;
public Transform Head => m_transform;
private Vector3 m_boneAxis;
private Vector3 m_currentTail;
private readonly float m_length;
private Vector3 m_localDir;
private Vector3 m_prevTail;
public SpringBoneJoint(Transform center, Transform transform, Vector3 localChildPosition)
{
m_transform = transform;
var worldChildPosition = m_transform.TransformPoint(localChildPosition);
m_currentTail = center != null
? center.InverseTransformPoint(worldChildPosition)
: worldChildPosition;
m_prevTail = m_currentTail;
LocalRotation = transform.localRotation;
m_boneAxis = localChildPosition.normalized;
m_length = localChildPosition.magnitude;
}
public Vector3 Tail => m_transform.localToWorldMatrix.MultiplyPoint(m_boneAxis * m_length);
private Quaternion LocalRotation { get; }
float m_radius;
public void SetRadius(float radius)
{
m_radius = radius * m_transform.UniformedLossyScale();
}
private Quaternion ParentRotation =>
m_transform.parent != null
? m_transform.parent.rotation
: Quaternion.identity;
public void Update(Transform center,
float stiffnessForce, float dragForce, Vector3 external,
List<SphereCollider> colliders)
{
var currentTail = center != null
? center.TransformPoint(m_currentTail)
: m_currentTail;
var prevTail = center != null
? center.TransformPoint(m_prevTail)
: m_prevTail;
// verlet積分で次の位置を計算
var nextTail = currentTail
+ (currentTail - prevTail) * (1.0f - dragForce) // 前フレームの移動を継続する(減衰もあるよ)
+ ParentRotation * LocalRotation * m_boneAxis * stiffnessForce // 親の回転による子ボーンの移動目標
+ external; // 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 * m_length;
// Collisionで移動
nextTail = Collision(colliders, nextTail);
m_prevTail = center != null
? center.InverseTransformPoint(currentTail)
: currentTail;
m_currentTail = center != null
? center.InverseTransformPoint(nextTail)
: nextTail;
//回転を適用
m_transform.rotation = ApplyRotation(nextTail);
}
protected virtual Quaternion ApplyRotation(Vector3 nextTail)
{
var rotation = ParentRotation * LocalRotation;
return Quaternion.FromToRotation(rotation * m_boneAxis,
nextTail - m_transform.position) * rotation;
}
protected virtual Vector3 Collision(List<SpringBone.SphereCollider> colliders, Vector3 nextTail)
{
foreach (var collider in colliders)
{
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 * m_length;
}
}
return nextTail;
}
public void DrawGizmo(Transform center, Color color)
{
var currentTail = center != null
? center.TransformPoint(m_currentTail)
: m_currentTail;
var prevTail = center != null
? center.TransformPoint(m_prevTail)
: m_prevTail;
Gizmos.color = Color.gray;
Gizmos.DrawLine(currentTail, prevTail);
Gizmos.DrawWireSphere(prevTail, m_radius);
Gizmos.color = color;
Gizmos.DrawLine(currentTail, m_transform.position);
Gizmos.DrawWireSphere(currentTail, m_radius);
}
}
}

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Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJoint.cs.meta Normal file
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Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSettings.cs Normal file
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using UnityEngine;
namespace VRM.SpringBone
{
struct SpringBoneSettings
{
public float m_stiffnessForce;
public Vector3 m_gravityDir;
public float m_gravityPower;
public float m_hitRadius;
public float m_dragForce;
}
}

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Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSettings.cs.meta Normal file
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158
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSystem.cs Normal file
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@ -0,0 +1,158 @@
using System.Collections.Generic;
using System.Linq;
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<SpringBoneJoint> m_verlet = new();
List<SphereCollider> m_colliders = new();
public void SetLocalRotationsIdentity()
{
foreach (var verlet in m_verlet) verlet.Head.localRotation = Quaternion.identity;
}
public void Setup(SceneInfo scene, bool force)
{
if (force || m_initialLocalRotationMap == null)
{
m_initialLocalRotationMap = new Dictionary<Transform, Quaternion>();
}
else
{
foreach (var kv in m_initialLocalRotationMap) kv.Key.localRotation = kv.Value;
m_initialLocalRotationMap.Clear();
}
m_verlet.Clear();
foreach (var go in scene.RootBones)
{
if (go != null)
{
foreach (var x in go.transform.GetComponentsInChildren<Transform>(true)) m_initialLocalRotationMap[x] = x.localRotation;
SetupRecursive(scene.m_center, go);
}
}
}
private static IEnumerable<Transform> GetChildren(Transform parent)
{
for (var i = 0; i < parent.childCount; ++i) yield return parent.GetChild(i);
}
private void SetupRecursive(Transform center, Transform parent)
{
Vector3 localPosition = default;
Vector3 scale = default;
if (parent.childCount == 0)
{
// 子ノードが無い。7cm 固定
var delta = parent.position - parent.parent.position;
var childPosition = parent.position + delta.normalized * 0.07f * parent.UniformedLossyScale();
localPosition = parent.worldToLocalMatrix.MultiplyPoint(childPosition); // cancel scale
scale = parent.lossyScale;
}
else
{
var firstChild = GetChildren(parent).First();
localPosition = firstChild.localPosition;
scale = firstChild.lossyScale;
}
m_verlet.Add(new SpringBone.SpringBoneJoint(center, parent,
new Vector3(
localPosition.x * scale.x,
localPosition.y * scale.y,
localPosition.z * scale.z
)))
;
foreach (Transform child in parent) SetupRecursive(center, child);
}
public void UpdateProcess(float deltaTime,
SceneInfo scene,
SpringBoneSettings settings
)
{
if (m_verlet == null || m_verlet.Count == 0)
{
if (scene.RootBones == null) return;
Setup(scene, false);
}
m_colliders.Clear();
if (scene.ColliderGroups != null)
{
foreach (var group in scene.ColliderGroups)
{
if (group != null)
{
foreach (var collider in group.Colliders)
{
m_colliders.Add(new SphereCollider(group.transform, collider));
}
}
}
}
var stiffness = settings.m_stiffnessForce * deltaTime;
var external = settings.m_gravityDir * (settings.m_gravityPower * deltaTime);
foreach (var verlet in m_verlet)
{
verlet.SetRadius(settings.m_hitRadius);
verlet.Update(scene.m_center,
stiffness,
settings.m_dragForce,
external,
m_colliders
);
}
}
public void PlayingGizmo(Transform m_center, Color m_gizmoColor)
{
foreach (var verlet in m_verlet)
{
verlet.DrawGizmo(m_center, m_gizmoColor);
}
}
public void EditorGizmo(Transform head, float m_hitRadius)
{
Vector3 childPosition;
Vector3 scale;
if (head.childCount == 0)
{
// 子ノードが無い。7cm 固定
var delta = head.position - head.parent.position;
childPosition = head.position + delta.normalized * 0.07f * head.UniformedLossyScale();
scale = head.lossyScale;
}
else
{
var firstChild = GetChildren(head).First();
childPosition = firstChild.position;
scale = firstChild.lossyScale;
}
Gizmos.DrawLine(head.position, childPosition);
Gizmos.DrawWireSphere(childPosition, m_hitRadius * scale.x);
foreach (Transform child in head) EditorGizmo(child, m_hitRadius);
}
}
}

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Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSystem.cs.meta Normal file
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0
Assets/VRM/Runtime/SpringBone/TransformExtensions.cs → Assets/VRM/Runtime/SpringBone/Logic/TransformExtensions.cs
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0
Assets/VRM/Runtime/SpringBone/TransformExtensions.cs.meta → Assets/VRM/Runtime/SpringBone/Logic/TransformExtensions.cs.meta
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314
Assets/VRM/Runtime/SpringBone/VRMSpringBone.cs
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@ -1,7 +1,5 @@
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UniGLTF;
namespace VRM
{
@ -13,30 +11,16 @@ namespace VRM
// [RequireComponent(typeof(VCIObject))]
public sealed class VRMSpringBone : MonoBehaviour
{
[SerializeField]
public string m_comment;
[SerializeField] public string m_comment;
[SerializeField] private Color m_gizmoColor = Color.yellow;
[SerializeField]
public float m_stiffnessForce = 1.0f;
[SerializeField] public float m_stiffnessForce = 1.0f;
[SerializeField] public float m_gravityPower;
[SerializeField] public Vector3 m_gravityDir = new Vector3(0, -1.0f, 0);
[SerializeField][Range(0, 1)] public float m_dragForce = 0.4f;
[SerializeField] public Transform m_center;
[SerializeField] public List<Transform> RootBones = new List<Transform>();
Dictionary<Transform, Quaternion> m_initialLocalRotationMap;
[SerializeField]
public float m_hitRadius = 0.02f;
[SerializeField]
public VRMSpringBoneColliderGroup[] ColliderGroups;
[SerializeField] public float m_hitRadius = 0.02f;
[SerializeField] public VRMSpringBoneColliderGroup[] ColliderGroups;
public enum SpringBoneUpdateType
{
@ -44,211 +28,39 @@ namespace VRM
FixedUpdate,
Manual,
}
[SerializeField]
public SpringBoneUpdateType m_updateType = SpringBoneUpdateType.LateUpdate;
[SerializeField] public SpringBoneUpdateType m_updateType = SpringBoneUpdateType.LateUpdate;
/// <summary>
/// original from
/// http://rocketjump.skr.jp/unity3d/109/
/// </summary>
private class VRMSpringBoneLogic
{
Transform m_transform;
public Transform Head => m_transform;
private Vector3 m_boneAxis;
private Vector3 m_currentTail;
private readonly float m_length;
private Vector3 m_localDir;
private Vector3 m_prevTail;
public VRMSpringBoneLogic(Transform center, Transform transform, Vector3 localChildPosition)
{
m_transform = transform;
var worldChildPosition = m_transform.TransformPoint(localChildPosition);
m_currentTail = center != null
? center.InverseTransformPoint(worldChildPosition)
: worldChildPosition;
m_prevTail = m_currentTail;
LocalRotation = transform.localRotation;
m_boneAxis = localChildPosition.normalized;
m_length = localChildPosition.magnitude;
}
public Vector3 Tail => m_transform.localToWorldMatrix.MultiplyPoint(m_boneAxis * m_length);
private Quaternion LocalRotation { get; }
float m_radius;
public void SetRadius(float radius)
{
m_radius = radius * m_transform.UniformedLossyScale();
}
private Quaternion ParentRotation =>
m_transform.parent != null
? m_transform.parent.rotation
: Quaternion.identity;
public void Update(Transform center,
float stiffnessForce, float dragForce, Vector3 external,
List<SphereCollider> colliders)
{
var currentTail = center != null
? center.TransformPoint(m_currentTail)
: m_currentTail;
var prevTail = center != null
? center.TransformPoint(m_prevTail)
: m_prevTail;
// verlet積分で次の位置を計算
var nextTail = currentTail
+ (currentTail - prevTail) * (1.0f - dragForce) // 前フレームの移動を継続する(減衰もあるよ)
+ ParentRotation * LocalRotation * m_boneAxis * stiffnessForce // 親の回転による子ボーンの移動目標
+ external; // 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 * m_length;
// Collisionで移動
nextTail = Collision(colliders, nextTail);
m_prevTail = center != null
? center.InverseTransformPoint(currentTail)
: currentTail;
m_currentTail = center != null
? center.InverseTransformPoint(nextTail)
: nextTail;
//回転を適用
m_transform.rotation = ApplyRotation(nextTail);
}
protected virtual Quaternion ApplyRotation(Vector3 nextTail)
{
var rotation = ParentRotation * LocalRotation;
return Quaternion.FromToRotation(rotation * m_boneAxis,
nextTail - m_transform.position) * rotation;
}
protected virtual Vector3 Collision(List<SphereCollider> colliders, Vector3 nextTail)
{
foreach (var collider in colliders)
{
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 * m_length;
}
}
return nextTail;
}
public void DrawGizmo(Transform center, Color color)
{
var currentTail = center != null
? center.TransformPoint(m_currentTail)
: m_currentTail;
var prevTail = center != null
? center.TransformPoint(m_prevTail)
: m_prevTail;
Gizmos.color = Color.gray;
Gizmos.DrawLine(currentTail, prevTail);
Gizmos.DrawWireSphere(prevTail, m_radius);
Gizmos.color = color;
Gizmos.DrawLine(currentTail, m_transform.position);
Gizmos.DrawWireSphere(currentTail, m_radius);
}
}
List<VRMSpringBoneLogic> m_verlet = new List<VRMSpringBoneLogic>();
SpringBone.SpringBoneSystem m_system = new();
void Awake()
{
Setup();
}
SpringBone.SceneInfo Scene => new SpringBone.SceneInfo { RootBones = RootBones, m_center = m_center };
SpringBone.SpringBoneSettings Settings => new SpringBone.SpringBoneSettings
{
m_stiffnessForce = m_stiffnessForce,
m_gravityDir = m_gravityDir,
m_gravityPower = m_gravityPower,
m_hitRadius = m_hitRadius,
m_dragForce = m_dragForce,
};
[ContextMenu("Reset bones")]
public void Setup(bool force = false)
{
if (RootBones != null)
{
if (force || m_initialLocalRotationMap == null)
{
m_initialLocalRotationMap = new Dictionary<Transform, Quaternion>();
}
else
{
foreach (var kv in m_initialLocalRotationMap) kv.Key.localRotation = kv.Value;
m_initialLocalRotationMap.Clear();
}
m_verlet.Clear();
foreach (var go in RootBones)
{
if (go != null)
{
foreach (var x in go.transform.GetComponentsInChildren<Transform>(true)) m_initialLocalRotationMap[x] = x.localRotation;
SetupRecursive(m_center, go);
}
}
m_system.Setup(Scene, force);
}
}
public void SetLocalRotationsIdentity()
{
foreach (var verlet in m_verlet) verlet.Head.localRotation = Quaternion.identity;
}
private static IEnumerable<Transform> GetChildren(Transform parent)
{
for (var i = 0; i < parent.childCount; ++i) yield return parent.GetChild(i);
}
private void SetupRecursive(Transform center, Transform parent)
{
Vector3 localPosition = default;
Vector3 scale = default;
if (parent.childCount == 0)
{
// 子ノードが無い。7cm 固定
var delta = parent.position - parent.parent.position;
var childPosition = parent.position + delta.normalized * 0.07f * parent.UniformedLossyScale();
localPosition = parent.worldToLocalMatrix.MultiplyPoint(childPosition); // cancel scale
scale = parent.lossyScale;
}
else
{
var firstChild = GetChildren(parent).First();
localPosition = firstChild.localPosition;
scale = firstChild.lossyScale;
}
m_verlet.Add(new VRMSpringBoneLogic(center, parent,
new Vector3(
localPosition.x * scale.x,
localPosition.y * scale.y,
localPosition.z * scale.z
)))
;
foreach (Transform child in parent) SetupRecursive(center, child);
}
void LateUpdate()
{
if (m_updateType == SpringBoneUpdateType.LateUpdate)
{
UpdateProcess(Time.deltaTime);
m_system.UpdateProcess(Time.deltaTime, Scene, Settings);
}
}
@ -256,7 +68,7 @@ namespace VRM
{
if (m_updateType == SpringBoneUpdateType.FixedUpdate)
{
UpdateProcess(Time.fixedDeltaTime);
m_system.UpdateProcess(Time.fixedDeltaTime, Scene, Settings);
}
}
@ -266,96 +78,14 @@ namespace VRM
{
throw new System.ArgumentException("require SpringBoneUpdateType.Manual");
}
UpdateProcess(deltaTime);
}
public struct SphereCollider
{
// public Transform Transform;
public readonly Vector3 Position;
public readonly float Radius;
public SphereCollider(Transform transform, VRMSpringBoneColliderGroup.SphereCollider collider)
{
Position = transform.TransformPoint(collider.Offset);
var ls = transform.lossyScale;
var scale = Mathf.Max(Mathf.Max(ls.x, ls.y), ls.z);
Radius = scale * collider.Radius;
}
}
private List<SphereCollider> m_colliders = new List<SphereCollider>();
private void UpdateProcess(float deltaTime)
{
if (m_verlet == null || m_verlet.Count == 0)
{
if (RootBones == null) return;
Setup();
}
m_colliders.Clear();
if (ColliderGroups != null)
{
foreach (var group in ColliderGroups)
{
if (group != null)
{
foreach (var collider in group.Colliders)
{
m_colliders.Add(new SphereCollider(group.transform, collider));
}
}
}
}
var stiffness = m_stiffnessForce * deltaTime;
var external = m_gravityDir * (m_gravityPower * deltaTime);
foreach (var verlet in m_verlet)
{
verlet.SetRadius(m_hitRadius);
verlet.Update(m_center,
stiffness,
m_dragForce,
external,
m_colliders
);
}
}
void EditorGizmo(Transform head)
{
Vector3 childPosition;
Vector3 scale;
if (head.childCount == 0)
{
// 子ノードが無い。7cm 固定
var delta = head.position - head.parent.position;
childPosition = head.position + delta.normalized * 0.07f * head.UniformedLossyScale();
scale = head.lossyScale;
}
else
{
var firstChild = GetChildren(head).First();
childPosition = firstChild.position;
scale = firstChild.lossyScale;
}
Gizmos.DrawLine(head.position, childPosition);
Gizmos.DrawWireSphere(childPosition, m_hitRadius * scale.x);
foreach (Transform child in head) EditorGizmo(child);
m_system.UpdateProcess(deltaTime, Scene, Settings);
}
private void OnDrawGizmosSelected()
{
if (Application.isPlaying)
{
foreach (var verlet in m_verlet)
{
verlet.DrawGizmo(m_center, m_gizmoColor);
}
m_system.PlayingGizmo(m_center, m_gizmoColor);
}
else
{
@ -365,7 +95,7 @@ namespace VRM
{
if (root != null)
{
EditorGizmo(root.transform);
m_system.EditorGizmo(root.transform, m_hitRadius);
}
}
}