mirror of
https://github.com/vrm-c/UniVRM.git
synced 2026-04-30 02:27:07 -05:00
321 lines
15 KiB
C#
321 lines
15 KiB
C#
using System;
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using Unity.Collections;
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using Unity.Jobs;
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using UnityEngine;
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using UniGLTF.SpringBoneJobs.Blittables;
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#if ENABLE_SPRINGBONE_BURST
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using Unity.Burst;
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#endif
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namespace UniGLTF.SpringBoneJobs
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{
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#if ENABLE_SPRINGBONE_BURST
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[BurstCompile]
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#endif
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public struct UpdateFastSpringBoneJob : IJobParallelFor
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{
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[NativeDisableParallelForRestriction] public NativeArray<BlittableTransform> Transforms;
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[ReadOnly] public NativeArray<BlittableSpring> Springs;
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[ReadOnly] public NativeArray<BlittableJointSettings> Joints;
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[ReadOnly] public NativeArray<BlittableJointInit> Logics;
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[ReadOnly] public NativeArray<Vector3> PrevTail;
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[ReadOnly] public NativeArray<Vector3> CurrentTail;
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[NativeDisableParallelForRestriction] public NativeArray<Vector3> NextTail;
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[ReadOnly] public NativeArray<BlittableCollider> Colliders;
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public float DeltaTime;
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public unsafe void Execute(int index)
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{
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var spring = Springs[index];
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var transformIndexOffset = spring.transformIndexOffset;
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var colliderSpan = spring.colliderSpan;
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var logicSpan = spring.logicSpan;
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for (var logicIndex = logicSpan.startIndex; logicIndex < logicSpan.startIndex + logicSpan.count; ++logicIndex)
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{
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var logic = Logics[logicIndex];
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var joint = Joints[logicIndex];
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var headTransform = Transforms[logic.headTransformIndex + transformIndexOffset];
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var parentTransform = logic.parentTransformIndex >= 0
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? Transforms[logic.parentTransformIndex + transformIndexOffset]
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: (BlittableTransform?)null;
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var centerTransform = spring.centerTransformIndex >= 0
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? Transforms[spring.centerTransformIndex + transformIndexOffset]
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: (BlittableTransform?)null;
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// 親があったら、親に依存するTransformを再計算
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if (parentTransform.HasValue)
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{
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headTransform.position =
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parentTransform.Value.localToWorldMatrix.MultiplyPoint3x4(headTransform.localPosition);
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headTransform.rotation = parentTransform.Value.rotation * headTransform.localRotation;
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}
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var currentTail = centerTransform.HasValue
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? centerTransform.Value.localToWorldMatrix.MultiplyPoint3x4(CurrentTail[logicIndex])
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: CurrentTail[logicIndex];
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var prevTail = centerTransform.HasValue
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? centerTransform.Value.localToWorldMatrix.MultiplyPoint3x4(PrevTail[logicIndex])
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: PrevTail[logicIndex];
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var parentRotation = parentTransform?.rotation ?? Quaternion.identity;
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// verlet積分で次の位置を計算
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var external = (joint.gravityDir * joint.gravityPower + spring.ExternalData->ExternalForce) * DeltaTime;
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var nextTail = currentTail
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+ (currentTail - prevTail) * (1.0f - joint.dragForce) // 前フレームの移動を継続する(減衰もあるよ)
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+ parentRotation * logic.localRotation * logic.boneAxis *
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joint.stiffnessForce * DeltaTime // 親の回転による子ボーンの移動目標
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+ external; // 外力による移動量
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// 長さをboneLengthに強制
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nextTail = headTransform.position + (nextTail - headTransform.position).normalized * logic.length;
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// Collisionで移動
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for (var colliderIndex = colliderSpan.startIndex; colliderIndex < colliderSpan.startIndex + colliderSpan.count; ++colliderIndex)
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{
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var collider = Colliders[colliderIndex];
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var colliderTransform = Transforms[collider.transformIndex + transformIndexOffset];
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var colliderScale = colliderTransform.localToWorldMatrix.lossyScale;
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var maxColliderScale = Mathf.Max(Mathf.Max(Mathf.Abs(colliderScale.x), Mathf.Abs(colliderScale.y)), Mathf.Abs(colliderScale.z));
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var worldPosition = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.offset);
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var worldTail = colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.tailOrNormal);
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switch (collider.colliderType)
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{
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case BlittableColliderType.Sphere:
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ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
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break;
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case BlittableColliderType.Capsule:
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ResolveCapsuleCollision(worldTail, worldPosition, headTransform, joint, collider, maxColliderScale, logic, ref nextTail);
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break;
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case BlittableColliderType.Plane:
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ResolvePlaneCollision(joint, collider, colliderTransform, ref nextTail);
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break;
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case BlittableColliderType.SphereInside:
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ResolveSphereCollisionInside(joint, collider, colliderTransform, ref nextTail);
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break;
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case BlittableColliderType.CapsuleInside:
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ResolveCapsuleCollisionInside(joint, collider, colliderTransform, ref nextTail);
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break;
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default:
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throw new NotImplementedException();
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}
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}
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NextTail[logicIndex] = centerTransform.HasValue
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? centerTransform.Value.worldToLocalMatrix.MultiplyPoint3x4(nextTail)
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: nextTail;
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//回転を適用
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var rotation = parentRotation * logic.localRotation;
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headTransform.rotation = Quaternion.FromToRotation(rotation * logic.boneAxis,
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nextTail - headTransform.position) * rotation;
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// Transformを更新
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if (parentTransform.HasValue)
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{
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var parentLocalToWorldMatrix = parentTransform.Value.localToWorldMatrix;
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headTransform.localRotation = Normalize(Quaternion.Inverse(parentTransform.Value.rotation) * headTransform.rotation);
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headTransform.localToWorldMatrix =
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parentLocalToWorldMatrix *
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Matrix4x4.TRS(
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headTransform.localPosition,
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headTransform.localRotation,
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headTransform.localScale
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);
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headTransform.worldToLocalMatrix = headTransform.localToWorldMatrix.inverse;
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}
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else
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{
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headTransform.localToWorldMatrix =
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Matrix4x4.TRS(
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headTransform.position,
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headTransform.rotation,
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headTransform.localScale
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);
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headTransform.worldToLocalMatrix = headTransform.localToWorldMatrix.inverse;
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headTransform.localRotation = headTransform.rotation;
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}
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if (spring.ExternalData->IsSpringBoneEnabled)
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{
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// SpringBone の結果を Transform に反映する
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Transforms[logic.headTransformIndex + transformIndexOffset] = headTransform;
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}
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else
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{
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// SpringBone の結果を Transform に反映しないが logic の更新は継続する。
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// 再開したときに暴れない。
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}
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}
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}
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/// <summary>
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/// BurstではMathfがエラーを吐くため、内部でMathfを呼ばないNormalizeを自前実装
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/// </summary>
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private static Quaternion Normalize(Quaternion q)
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{
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var num = (float)Math.Sqrt(Quaternion.Dot(q, q));
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return num < float.Epsilon ? Quaternion.identity : new Quaternion(q.x / num, q.y / num, q.z / num, q.w / num);
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}
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private static void ResolveCapsuleCollision(
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Vector3 worldTail,
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Vector3 worldPosition,
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BlittableTransform headTransform,
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BlittableJointSettings joint,
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BlittableCollider collider,
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float maxColliderScale,
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BlittableJointInit logic,
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ref Vector3 nextTail)
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{
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var direction = worldTail - worldPosition;
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if (direction.sqrMagnitude == 0)
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{
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// head側半球の球判定
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ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
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return;
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}
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var P = direction.normalized;
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var Q = headTransform.position - worldPosition;
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var dot = Vector3.Dot(P, Q);
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if (dot <= 0)
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{
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// head側半球の球判定
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ResolveSphereCollision(joint, collider, worldPosition, headTransform, maxColliderScale, logic, ref nextTail);
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return;
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}
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if (dot >= direction.magnitude)
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{
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// tail側半球の球判定
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ResolveSphereCollision(joint, collider, worldTail, headTransform, maxColliderScale, logic, ref nextTail);
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return;
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}
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// head-tail上の m_transform.position との最近点
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var p = worldPosition + P * dot;
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ResolveSphereCollision(joint, collider, p, headTransform, maxColliderScale, logic, ref nextTail);
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}
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private static void ResolveSphereCollision(
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BlittableJointSettings joint,
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BlittableCollider collider,
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Vector3 worldPosition,
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BlittableTransform headTransform,
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float maxColliderScale,
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BlittableJointInit logic,
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ref Vector3 nextTail)
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{
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var r = joint.radius + collider.radius * maxColliderScale;
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if (Vector3.SqrMagnitude(nextTail - worldPosition) <= (r * r))
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{
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// ヒット。Colliderの半径方向に押し出す
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var normal = (nextTail - worldPosition).normalized;
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var posFromCollider = worldPosition + normal * r;
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// 長さをboneLengthに強制
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nextTail = headTransform.position + (posFromCollider - headTransform.position).normalized * logic.length;
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}
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}
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private static void ResolveSphereCollisionInside(
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BlittableJointSettings joint,
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BlittableCollider collider,
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BlittableTransform colliderTransform,
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ref Vector3 nextTail)
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{
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var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
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var delta = nextTail - transformedOffset;
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// 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
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var distance = collider.radius - joint.radius - delta.magnitude;
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// 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
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if (distance < 0)
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{
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var direction = -delta.normalized;
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nextTail -= direction * distance;
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}
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}
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private static void ResolveCapsuleCollisionInside(
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BlittableJointSettings joint,
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BlittableCollider collider,
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BlittableTransform colliderTransform,
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ref Vector3 nextTail)
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{
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var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
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var transformedTail = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.tailOrNormal);
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var offsetToTail = transformedTail - transformedOffset;
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var lengthSqCapsule = offsetToTail.sqrMagnitude;
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var delta = nextTail - transformedOffset;
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var dot = Vector3.Dot(offsetToTail, delta);
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if (dot < 0.0)
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{
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// ジョイントがカプセルの始点側にある場合
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// なにもしない
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}
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else if (dot > lengthSqCapsule)
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{
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// ジョイントがカプセルの終点側にある場合
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delta -= offsetToTail;
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}
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else
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{
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// ジョイントがカプセルの始点と終点の間にある場合
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delta -= offsetToTail * (dot / lengthSqCapsule);
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}
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// 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
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var distance = collider.radius - joint.radius - delta.magnitude;
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// 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
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if (distance < 0)
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{
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var direction = -delta.normalized;
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nextTail -= direction * distance;
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}
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}
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/// <summary>
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/// Collision with SpringJoint and PlaneCollider.
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/// If collide update nextTail.
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/// </summary>
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/// <param name="joint">joint</param>
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/// <param name="collider">collier</param>
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/// <param name="colliderTransform">colliderTransform.localToWorldMatrix.MultiplyPoint3x4(collider.offset);</param>
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/// <param name="nextTail">result of verlet integration</param>
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private static void ResolvePlaneCollision(
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BlittableJointSettings joint,
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BlittableCollider collider,
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BlittableTransform colliderTransform,
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ref Vector3 nextTail)
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{
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var transformedOffset = colliderTransform.localToWorldMatrix.MultiplyPoint(collider.offset);
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var transformedNormal = colliderTransform.localToWorldMatrix.MultiplyVector(collider.tailOrNormal).normalized;
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var delta = nextTail - transformedOffset;
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// 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
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var distance = Vector3.Dot(delta, transformedNormal) - joint.radius;
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if (distance < 0)
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{
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// 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
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var direction = transformedNormal;
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nextTail -= direction * distance;
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}
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}
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}
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} |