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ousttrue
2024-06-05 15:54:03 +09:00
parent 31fac6cad6
commit a71aa9fd8f
6 changed files with 125 additions and 7 deletions
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86
Assets/VRM10/Runtime/FastSpringBone/System/UpdateFastSpringBoneJob.cs
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@@ -22,7 +22,7 @@ namespace UniVRM10.FastSpringBones.System
[NativeDisableParallelForRestriction] public NativeArray<BlittableTransform> Transforms;
public float DeltaTime;
public unsafe void Execute(int index)
{
var spring = Springs[index];
@@ -79,16 +79,28 @@ namespace UniVRM10.FastSpringBones.System
var colliderScale = colliderTransform.localToWorldMatrix.lossyScale;
var maxColliderScale = Mathf.Max(Mathf.Max(Mathf.Abs(colliderScale.x), Mathf.Abs(colliderScale.y)), Mathf.Abs(colliderScale.z));
var worldPosition = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.offset);
var worldTail = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.tail);
var worldTail = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.tailOrNormal);
switch (collider.colliderType)
{
case BlittableColliderType.Sphere:
ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
break;
case BlittableColliderType.Capsule:
ResolveCapsuleCollision(worldTail, worldPosition, headTransform, joint, collider, maxColliderScale, logic, ref nextTail);
break;
case BlittableColliderType.Plane:
ResolvePlaneCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
break;
case BlittableColliderType.SphereInside:
ResolveSphereCollisionInside(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
break;
default:
throw new NotImplementedException();
}
}
@@ -203,5 +215,71 @@ namespace UniVRM10.FastSpringBones.System
nextTail = headTransform.position + (posFromCollider - headTransform.position).normalized * logic.length;
}
}
private static void ResolveSphereCollisionInside(
BlittableJoint joint,
BlittableCollider collider,
Vector3 worldPosition,
BlittableTransform headTransform,
float maxColliderScale,
BlittableLogic logic,
ref Vector3 nextTail)
{
var r = joint.radius + collider.radius * maxColliderScale;
if (Vector3.SqrMagnitude(nextTail - worldPosition) <= (r * r))
{
// ヒット。Colliderの半径方向に押し出す
var normal = (nextTail - worldPosition).normalized;
var posFromCollider = worldPosition + normal * r;
// 長さをboneLengthに強制
nextTail = headTransform.position + (posFromCollider - headTransform.position).normalized * logic.length;
}
// let transformedOffset = colliderOffset * colliderTransform;
// let transformedTail = colliderTail * colliderTransform;
// let offsetToTail = transformedTail - transformedOffset;
// let lengthSqCapsule = lengthSq(offsetToTail);
// let dot = dot(offsetToTail, delta);
// var delta = jointPosition - transformedOffset;
// if (dot < 0.0) {
// // ジョイントがカプセルの始点側にある場合
// // なにもしない
// } else if (dot > lengthSqCapsule) {
// // ジョイントがカプセルの終点側にある場合
// delta -= offsetToTail;
// } else {
// // ジョイントがカプセルの始点と終点の間にある場合
// delta -= offsetToTail * (dot / lengthSqCapsule);
// }
// // 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 = colliderRadius - jointRadius - length(delta);
// // 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 = -normalize(delta);
}
private static void ResolvePlaneCollision(
BlittableJoint joint,
BlittableCollider collider,
Vector3 worldPosition,
BlittableTransform headTransform,
float maxColliderScale,
BlittableLogic logic,
ref Vector3 nextTail)
{
// let transformedOffset = colliderOffset * colliderTransform;
// let transformedNormal = normalize(colliderNormal * normalMatrixFrom(colliderTransform));
// let delta = jointPosition - 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;
}
}
}