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impl plane collider

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This commit is contained in:
ousttrue 2024-06-06 13:45:39 +09:00
parent a3564ec859
commit 94e732d83a
2 changed files with 28 additions and 11 deletions
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4
Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10Runtime.cs
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@ -172,6 +172,10 @@ namespace UniVRM10
return BlittableColliderType.Sphere;
case VRM10SpringBoneColliderTypes.Capsule:
return BlittableColliderType.Capsule;
case VRM10SpringBoneColliderTypes.Plane:
return BlittableColliderType.Plane;
case VRM10SpringBoneColliderTypes.SphereInside:
return BlittableColliderType.SphereInside;
default:
throw new ArgumentOutOfRangeException();
}

35
Assets/VRM10/Runtime/FastSpringBone/System/UpdateFastSpringBoneJob.cs
View File

@ -92,7 +92,7 @@ namespace UniVRM10.FastSpringBones.System
break;
case BlittableColliderType.Plane:
ResolvePlaneCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
ResolvePlaneCollision(joint, collider, colliderTransform, logic, ref nextTail);
break;
case BlittableColliderType.SphereInside:
@ -262,24 +262,37 @@ namespace UniVRM10.FastSpringBones.System
// let direction = -normalize(delta);
}
/// <summary>
/// SpringのJoint(head-tail)のとColliderの衝突処理。
/// nextTail が変化しうる。
/// </summary>
/// <param name="joint">joint</param>
/// <param name="collider">collier</param>
/// <param name="worldPosition">colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.offset);</param>
/// <param name="headTransform">jointのhead</param>
/// <param name="maxColliderScale">Mathf.Max(Mathf.Max(Mathf.Abs(colliderScale.x), Mathf.Abs(colliderScale.y)), Mathf.Abs(colliderScale.z));</param>
/// <param name="logic">joint</param>
/// <param name="nextTail">verlet 積分による tail の移動予定</param>
private static void ResolvePlaneCollision(
BlittableJoint joint,
BlittableCollider collider,
Vector3 worldPosition,
BlittableTransform headTransform,
float maxColliderScale,
BlittableTransform colliderTransform,
BlittableLogic logic,
ref Vector3 nextTail)
{
// let transformedOffset = colliderOffset * colliderTransform;
// let transformedNormal = normalize(colliderNormal * normalMatrixFrom(colliderTransform));
// let delta = jointPosition - transformedOffset;
var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
var transformedNormal = colliderTransform.localToWorldMatrix.MultiplyVector(collider.tailOrNormal).normalized;
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
// let distance = dot(delta, transformedNormal) - jointRadius;
// 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
var distance = Vector3.Dot(delta, transformedNormal) - joint.radius;
// // 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
// let direction = transformedNormal;
if (distance < 0)
{
// 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
var direction = transformedNormal;
nextTail -= direction * distance;
}
}
}
}