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Merge pull request #2419 from ousttrue/fix/springbone_refactoring

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[SpringBone][vrm0]コード整理その２
This commit is contained in:
ousttrue
2024-09-03 16:05:16 +09:00
committed by GitHub
parent 6843cfdae3 1de2149802
commit 90ce110205
10 changed files with 217 additions and 185 deletions
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14
Assets/VRM/Runtime/SpringBone/Logic/SceneInfo.cs
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@@ -3,10 +3,16 @@ using UnityEngine;
namespace VRM.SpringBone
{
struct SceneInfo
readonly struct SceneInfo
{
public IReadOnlyList<Transform> RootBones;
public Transform Center;
public VRMSpringBoneColliderGroup[] ColliderGroups;
public readonly IReadOnlyList<Transform> RootBones;
public readonly Transform Center;
public readonly VRMSpringBoneColliderGroup[] ColliderGroups;
public SceneInfo(
IReadOnlyList<Transform> rootBones,
Transform center,
VRMSpringBoneColliderGroup[] colliderGroups) =>
(RootBones, Center, ColliderGroups) = (rootBones, center, colliderGroups);
}
}

20
Assets/VRM/Runtime/SpringBone/Logic/SphereCollider.cs
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@@ -2,7 +2,7 @@ using UnityEngine;
namespace VRM.SpringBone
{
struct SphereCollider
readonly struct SphereCollider
{
public readonly Vector3 Position;
public readonly float Radius;
@@ -14,5 +14,23 @@ namespace VRM.SpringBone
var scale = Mathf.Max(Mathf.Max(ls.x, ls.y), ls.z);
Radius = scale * collider.Radius;
}
public bool TryCollide(SpringBoneSettings settings, Transform transform, Vector3 nextTail, out Vector3 posFromCollider)
{
var m_radius = settings.HitRadius * 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;
posFromCollider = Position + normal * (m_radius + Radius);
return true;
}
else
{
posFromCollider = default;
return false;
}
}
}
}

129
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJoint.cs
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@@ -1,129 +0,0 @@
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);
}
}
}

64
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs Normal file
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@@ -0,0 +1,64 @@
using System.Collections.Generic;
using UnityEngine;
namespace VRM.SpringBone
{
/// <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>
readonly struct SpringBoneJointInit
{
public readonly Vector3 BoneAxis;
public readonly float Length;
public readonly Quaternion LocalRotation;
public SpringBoneJointInit(
Vector3 boneAxis,
float length,
Quaternion localRotation) => (BoneAxis, Length, LocalRotation) = (boneAxis, length, localRotation);
/// <summary>
/// しっぽの位置から回転を計算する
/// </summary>
public Quaternion WorldRotationFromTailPosition(Transform m_transform, Vector3 nextTail)
{
var rotation = (m_transform.parent != null ? m_transform.parent.rotation : Quaternion.identity) * LocalRotation;
return Quaternion.FromToRotation(rotation * BoneAxis,
nextTail - m_transform.position) * rotation;
}
/// <summary>
/// Verlet積分で次の位置を計算する
/// </summary>
public Vector3 VerletIntegration(float deltaTime, Transform center, Quaternion parentRotation,
SpringBoneSettings settings, SpringBoneJointState _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)
+ parentRotation * 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
return nextTail;
}
public void DrawGizmo(Transform center, Transform m_transform, SpringBoneSettings settings, Color color, SpringBoneJointState m_state)
{
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);
}
};
}

0
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJoint.cs.meta → Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointInit.cs.meta
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49
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs Normal file
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@@ -0,0 +1,49 @@
using UnityEngine;
namespace VRM.SpringBone
{
/// <summary>
/// 毎フレーム更新される Verlet 積分の位置状態
/// </summary>
readonly struct SpringBoneJointState
{
public readonly Vector3 CurrentTail;
public readonly Vector3 PrevTail;
public SpringBoneJointState(Vector3 currentTail, Vector3 prevTail) =>
(CurrentTail, PrevTail) = (currentTail, prevTail);
public static SpringBoneJointState Init(Transform center, Transform transform, Vector3 localChildPosition)
{
var worldChildPosition = transform.TransformPoint(localChildPosition);
var tail = center != null
? center.InverseTransformPoint(worldChildPosition)
: worldChildPosition;
return new SpringBoneJointState(currentTail: tail, prevTail: tail);
}
public static SpringBoneJointState Make(Transform center, Vector3 currentTail, Vector3 nextTail)
{
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);
}
};
}

11
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneJointState.cs.meta Normal file
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@@ -0,0 +1,11 @@
fileFormatVersion: 2
guid: 3bbcafd66c035184b8aa868b65c01c1d
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

15
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSettings.cs
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@@ -2,12 +2,15 @@ using UnityEngine;
namespace VRM.SpringBone
{
struct SpringBoneSettings
readonly struct SpringBoneSettings
{
public float StiffnessForce;
public Vector3 GravityDir;
public float GravityPower;
public float HitRadius;
public float DragForce;
public readonly float StiffnessForce;
public readonly float DragForce;
public readonly Vector3 GravityDir;
public readonly float GravityPower;
public readonly float HitRadius;
public SpringBoneSettings(float stiffnessForce, float dragForce, Vector3 gravityDir, float gravityPower, float hitRadius) =>
(StiffnessForce, DragForce, GravityDir, GravityPower, HitRadius) = (stiffnessForce, dragForce, gravityDir, gravityPower, hitRadius);
}
}

78
Assets/VRM/Runtime/SpringBone/Logic/SpringBoneSystem.cs
View File

@@ -4,25 +4,12 @@ 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_joints = new();
List<(Transform, SpringBoneJointInit, SpringBoneJointState)> m_joints = new();
List<SphereCollider> m_colliders = new();
public void SetLocalRotationsIdentity()
{
foreach (var verlet in m_joints) verlet.Head.localRotation = Quaternion.identity;
}
public void Setup(SceneInfo scene, bool force)
{
if (force || m_initialLocalRotationMap == null)
@@ -54,8 +41,8 @@ namespace VRM.SpringBone
private void SetupRecursive(Transform center, Transform parent)
{
Vector3 localPosition = default;
Vector3 scale = default;
Vector3 localPosition;
Vector3 scale;
if (parent.childCount == 0)
{
// 子ノードが無い。7cm 固定
@@ -70,18 +57,25 @@ namespace VRM.SpringBone
localPosition = firstChild.localPosition;
scale = firstChild.lossyScale;
}
m_joints.Add(new SpringBone.SpringBoneJoint(center, parent,
new Vector3(
var localChildPosition = new Vector3(
localPosition.x * scale.x,
localPosition.y * scale.y,
localPosition.z * scale.z
)))
;
);
m_joints.Add((
parent,
new SpringBoneJointInit
(
localRotation: parent.localRotation,
boneAxis: localChildPosition.normalized,
length: localChildPosition.magnitude
),
SpringBoneJointState.Init(center, parent, localChildPosition)));
foreach (Transform child in parent) SetupRecursive(center, child);
}
public void UpdateProcess(float deltaTime,
SceneInfo scene,
SpringBoneSettings settings
@@ -93,6 +87,7 @@ namespace VRM.SpringBone
Setup(scene, false);
}
// collider の収集
m_colliders.Clear();
if (scene.ColliderGroups != null)
{
@@ -108,26 +103,39 @@ namespace VRM.SpringBone
}
}
var stiffness = settings.StiffnessForce * deltaTime;
var external = settings.GravityDir * (settings.GravityPower * deltaTime);
foreach (var verlet in m_joints)
for (int i = 0; i < m_joints.Count; ++i)
{
verlet.SetRadius(settings.HitRadius);
verlet.Update(scene.Center,
stiffness,
settings.DragForce,
external,
m_colliders
);
var (transform, init, state) = m_joints[i];
// Spring処理
var parentRotation = (transform.parent != null ? transform.parent.rotation : Quaternion.identity);
var nextTail = init.VerletIntegration(deltaTime, scene.Center, parentRotation, settings, state);
// 長さをboneLengthに強制
nextTail = transform.position + (nextTail - transform.position).normalized * init.Length;
// Collision
foreach (var collider in m_colliders)
{
if (collider.TryCollide(settings, transform, nextTail, out var posFromCollider))
{
// 長さをboneLengthに強制
nextTail = transform.position + (posFromCollider - transform.position).normalized * init.Length;
}
}
// 状態更新
m_joints[i] = (transform, init, SpringBoneJointState.Make(scene.Center, currentTail: state.CurrentTail, nextTail: nextTail));
//回転を適用
transform.rotation = init.WorldRotationFromTailPosition(transform, nextTail);
}
}
public void PlayingGizmo(Transform m_center, Color m_gizmoColor)
public void PlayingGizmo(Transform m_center, SpringBoneSettings settings, Color m_gizmoColor)
{
foreach (var verlet in m_joints)
foreach (var (transform, init, state) in m_joints)
{
verlet.DrawGizmo(m_center, m_gizmoColor);
init.DrawGizmo(m_center, transform, settings, m_gizmoColor, state);
}
}

22
Assets/VRM/Runtime/SpringBone/VRMSpringBone.cs
View File

@@ -37,15 +37,17 @@ namespace VRM
Setup();
}
SpringBone.SceneInfo Scene => new SpringBone.SceneInfo { RootBones = RootBones, Center = m_center };
SpringBone.SpringBoneSettings Settings => new SpringBone.SpringBoneSettings
{
StiffnessForce = m_stiffnessForce,
GravityDir = m_gravityDir,
GravityPower = m_gravityPower,
HitRadius = m_hitRadius,
DragForce = m_dragForce,
};
SpringBone.SceneInfo Scene => new(
rootBones: RootBones,
center: m_center,
colliderGroups: ColliderGroups);
SpringBone.SpringBoneSettings Settings => new
(
stiffnessForce: m_stiffnessForce,
dragForce: m_dragForce,
gravityDir: m_gravityDir,
gravityPower: m_gravityPower,
hitRadius: m_hitRadius);
[ContextMenu("Reset bones")]
public void Setup(bool force = false)
@@ -85,7 +87,7 @@ namespace VRM
{
if (Application.isPlaying)
{
m_system.PlayingGizmo(m_center, m_gizmoColor);
m_system.PlayingGizmo(m_center, Settings, m_gizmoColor);
}
else
{